发明申请
- 专利标题: Robot apparatus and method of controlling the same
- 专利标题(中): 机器人装置及其控制方法
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申请号: US11703332申请日: 2007-02-07
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公开(公告)号: US20070220637A1公开(公告)日: 2007-09-20
- 发明人: Gen Endo , Jun Morimoto , Jun Nakanishi , Gordon Chang
- 申请人: Gen Endo , Jun Morimoto , Jun Nakanishi , Gordon Chang
- 优先权: JP2006-032762 20060209
- 主分类号: G08B21/00
- IPC分类号: G08B21/00
摘要:
A robot apparatus having a plurality of movable sections includes a motion control section that generates a control signal for the periodic motion of at least part of the movable sections according to the output of an oscillator showing self-oscillation and entrainment characteristics, an environment measuring section that measures the motion according to the control signal for the movable sections or the physical environment at the time of the motion of the movable sections, a periodic oscillator control section that inputs a periodic signal to the oscillator as feedback according to the outcome of the measurement by the environment measuring section and generates an entrainment phenomenon and a non-periodic oscillator control section that inputs a non-periodic or temporary feedback signal to the oscillator.
公开/授权文献
- US07949428B2 Robot apparatus and method of controlling the same 公开/授权日:2011-05-24