| 摘要 |
PURPOSE:To provide a control method for a movable robot so that the robot can surely move even if the condition of a contacting ground surface is unstable. CONSTITUTION:Using a movable robot 1 which has as a leg part 2 a cylindrical elastic body whose internal space is divided into plural pressure chambers by axially extended partition walls 5, 6 and 7, the pressure of fluid supplied to the pressure chambers is controlled so that the movable robot 1 is moved by the revolution of the tips of the leg part 2 around its center axis (x). Since the movable robot 1 keeps contact with a ground surface not with the ends of its leg part 2, but with the side area of the leg part 2 elastically deformed, the robot can be moved easily even when the condition of ground surface is not stable. |
