To provide a bipedal human-type robot capable of performing smooth motion by simplifying the wiring of a motion control device.
In this bipedal human-type robot having a driving means to respectively oscillate each joint part and a motion control device 40 to control the drive of each driving means, and the motion control device 40 and comprising a main control unit 41 provided on a body part and a plurality of sub control units 42 disposed in a decentralized manner adjacent to each driving means, each sub control unit 42 includes a processor unit to operate the control signal for at least one corresponding driving means based on the drive control signal from the main control unit, and a driver unit 46 to drive the corresponding driving means based on the control signal from the processor unit.
OKUMURA HISASHI
TAWARA TETSUO
KITANO HIROAKI
JP2001138271A | 2001-05-22 | |||
JP2001246585A | 2001-09-11 | |||
JPH05237775A | 1993-09-17 | |||
JP2001277163A | 2001-10-09 |