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Patent Searching and Data


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 (())
小松 真弓 (())
Application Number:
JP2011/006818
Publication Date:
June 21, 2012
Filing Date:
December 06, 2011
Export Citation:
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Assignee:
PANASONIC CORPORATION (1006, Oaza Kadoma Kadoma-sh, Osaka 01, 〒5718501, JP)
パナソニック株式会社 (〒01 大阪府門真市大字門真1006番地 Osaka, 〒5718501, JP)
KOMATSU, Mayumi (())
International Classes:
B25J19/06; B25J13/08; B25J19/00; F15B9/09; F15B15/10; F15B20/00
Domestic Patent References:
WO2011086638A1
Foreign References:
JPH11247807A
JP2008121783A
JP4563512B2
JPS61107405A
JPH02204805A
JPH0336782U
JPS62212710A
Attorney, Agent or Firm:
TANAKA, Mitsuo et al. (AOYAMA & PARTNERS, IMP Building 3-7, Shiromi 1-chome, Chuo-ku, Osaka-sh, Osaka 01, 〒5400001, JP)
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Claims: