Patent ID: 7061200
Filing Date: 2006-06-13
Classification: B25J

Abstract:
1. A legged mobile robot comprising: at least a plurality of movable legs; actuator devices for driving the movable legs; a higher-order control system for controlling the robot; sensors including at least one of a position sensor, an acceleration sensor, an angular velocity sensor, and a torque sensor, said sensors housed in every joint-actuator device for detecting driving situations of the actuator device; and a sensor disposed outside the actuator device for detecting contact and collision with surroundings, wherein the actuator device comprises an input interface for receiving a sensor signal from at least the one sensor disposed outside the actuator device; a signal processing unit for removing noise from sensor signals received from the sensors housed in every joint-actuator device and the sensor disposed outside the actuator device; and an arithmetic processing unit for drive-controlling an actuator motor and for processing sensor-information according to a command from the higher-order control system.