To improve energy efficiency of a driving motor arranged to a movable shaft as a joint without increasing the total weight and size of a robot when a driving device is used in the robot such as a leg type bipedal walking robot.
The device drives the movable shaft capable of relatively moving two links adjacent to each other with one degree of freedom. The device is provided with two motors 11, 12 having mutually different maximum output, two decelerators 14, 15, which respectively drive the movable shaft by being driven with the motors and have mutually different speed reduction ratios, a microcomputer 19, which calculates a torque distribution value so as to make the energy efficiency maximum corresponding to required drive torque and rotational frequencies of the movable shaft, and current control drivers 17, 18 for driving respective motors 11, 12 corresponding to the calculated torque distribution value.
COPYRIGHT: (C)2007,JPO&INPIT
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Kosaku Sugimura
Hiroshi Tokunaga
Yoshiyuki Iwasa
Shiro Fujitani
Kiyoshi Kuruma
Kazuyuki Tomita