| 摘要 |
PURPOSE: To reduce the weight of a robot device and to convey the required load by detecting forces applied to related hand and leg parts, and providing a processor control device for effecting the movements of the hands and legs while depending on the outputs of position detection devices and the output of a differential pressure detection device. CONSTITUTION: First and second position detection devices 24 are provided in relation to the rotary and pivotal installation of first hand and leg parts in order to respectively detect the rotating position and vertical position of the first hand and leg parts. and a third position detection device relating to pivotal installation between the first and second hand and leg parts for the purpose of detecting the expanding and contracting positions of the second hand and leg parts and a differential pressure detection device 42 relating to the individual actuation devices of a pneumatic control and adapted for detecting the forces applied to the hand and legs parts are provided. A processor control device effects the movements of the hands and legs while depending on the outputs of the position detection devices and the output of the differential pressure detection device 42.
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