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Title:
弾性体アクチュエータ駆動機構の制御装置及び制御方法、並びに、制御プログラム
Document Type and Number:
Japanese Patent JP5074640
Kind Code:
B2
Abstract:
There is provided an abnormality determination unit that determines whether or not an output measurement unit is abnormal, in order to determine abnormality of the output measurement unit. When the output measurement unit is abnormal, the operation of an elastic actuator is controlled not in accordance with a measurement result of the output measurement unit but in accordance with an internal state model.

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Inventors:
Mayumi Komatsu
Oka Saki
Application Number:
JP2012524993A
Publication Date:
November 14, 2012
Filing Date:
December 06, 2011
Export Citation:
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Assignee:
Panasonic Corporation
International Classes:
B25J13/00; B25J13/08; B25J19/00; B25J19/06; F15B9/09; F15B15/10; F15B20/00
Domestic Patent References:
JPH11247807A1999-09-14
JP2008121783A2008-05-29
JP4563512B22010-10-13
JPS61107405A1986-05-26
JPH02204805A1990-08-14
JPH0336782U1991-04-10
JPS62212710A1987-09-18
Foreign References:
WO2011086638A12011-07-21
Attorney, Agent or Firm:
Mitsuo Tanaka
Samejima Mutsumi
Mitsuo Wada



 
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