Robot apparatus and method of controlling the same
US7949428B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Feb 7, 2007 |
| Grant date | May 24, 2011 |
| Priority date | — |
| Expiry date | Mar 25, 2030 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40304
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.