Title:
ROBOT DEVICE AND COMPLIANCE DEVICE FOR ROBOT DEVICE
Document Type and Number:
Japanese Patent JP2005177918
Kind Code:
A
Abstract:
To realize impact absorption and dynamic operation in performing sudden operation such as running or jumping.
A movable leg of a robot is composed of a linear motion mechanism of one degree of freedom combining a mixed control system comprising an active servo control system and a passive mechanism control system. A mechanism system passive and capable of responding in a wide band is arranged in series between a driving system based on active control comprising a servo motor, and an output part (an effector such as a joint). The passive mechanism system is composed of preload, friction and other nonlinear elements in addition to compliance elements such as a spring and a damper.
Inventors:
KATO KEISUKE
KUROKI YOSHIHIRO
KUROKI YOSHIHIRO
Application Number:
JP2003421752A
Publication Date:
July 07, 2005
Filing Date:
December 19, 2003
Export Citation:
Assignee:
SONY CORP
International Classes:
B25J5/00; (IPC1-7): B25J5/00
Attorney, Agent or Firm:
Masaaki Miyata
Eiji Yamada
Toshio Sawada
Eiji Yamada
Toshio Sawada