Title:
APPARATUS, METHOD AND PROGRAM FOR CONTROLLING ELASTIC ACTUATOR DRIVE MECHANISM
Document Type and Number:
WIPO Patent Application WO/2012/081197
Kind Code:
A1
Abstract:
Provided is an apparatus for controlling an elastic actuator drive mechanism, which determines abnormality of an output measuring means (8) by being provided with an abnormality determining means (49), which determines whether an output measuring means (8) is abnormal or not. When the output measuring means is abnormal, without using measurement results of the output measuring means, the target internal state information is generated using target internal state information such that an output target value can be achieved, and operations of an elastic actuator (1) are controlled.
Inventors:
KOMATSU MAYUMI
OKAZAKI YASUNAO
OKAZAKI YASUNAO
Application Number:
PCT/JP2011/006818
Publication Date:
June 21, 2012
Filing Date:
December 06, 2011
Export Citation:
Assignee:
PANASONIC CORP (JP)
KOMATSU MAYUMI
OKAZAKI YASUNAO
KOMATSU MAYUMI
OKAZAKI YASUNAO
International Classes:
B25J19/06; B25J13/08; B25J19/00; F15B9/09; F15B15/10; F15B20/00
Domestic Patent References:
| WO2011086638A1 | 2011-07-21 |
Foreign References:
| JPH11247807A | 1999-09-14 | |||
| JP2008121783A | 2008-05-29 | |||
| JP4563512B2 | 2010-10-13 | |||
| JPS61107405A | 1986-05-26 | |||
| JPH02204805A | 1990-08-14 | |||
| JPH0336782U | 1991-04-10 | |||
| JPS62212710A | 1987-09-18 |
Attorney, Agent or Firm:
TANAKA, Mitsuo et al. (JP)
Mitsuo Tanaka (JP)
Mitsuo Tanaka (JP)
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Claims:
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