To provide a drive system for a mobile robot capable of satisfying both low voltage requirement in consideration of safety and high voltage requirement for high-speed movement to enable efficient power supply.
The drive system for a mobile robot has electrically-powered motors (1Y motor 42 and 2Y motor 46) arranged on joints of a plurality of links (thighbone link) connected via joints, a power source (battery) 28 arranged on a portion other than the plurality of links, and a drive circuit (motor driver 92) for driving the electrically-powered motor by supplying the voltage supplied from the power source to the electrically-powered motor through a power line 90 connecting the power source and electrically-powered motor in response to a power supply command. The drive system has a voltage booster 98 for increasing drive voltage supplied to the electrically-powered motor, and the electrically-powered motor, the voltage booster, and the drive circuit are arranged on the same link (such as a thigh link).
KAWAI MASAKAZU
UDONO KENRO
| JP2006171960A | 2006-06-29 | |||
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