Patent ID: 7657345
Filing Date: 2010-02-02
Classification: B25J,B62D

Abstract:
1. A robot having a plurality of movable sections, the robot comprising: phase signal generating means for generating a phase signal relating to a periodic motion of at least part of the movable sections; control means for generating a control signal for the movable sections according to the phase signal; drive means for driving the movable sections according to the control signal; state quantity detecting means for detecting the state quantities of the movable sections driven by the drive means; and estimation means for estimating the phase or the angular frequency of the periodic motion of the movable sections according to the state quantities; the phase signal generating means being adapted to update the phase signal according to the phase or the angular frequency estimated by the estimation means, wherein the control means includes a plurality of controllers having different control rules and selects an appropriate controller according to the phase signal and the selected controller generates a control signal for the movable sections according to the phase signal; wherein the robot includes movable sections regarded as doing a periodic motion and those not regarded as doing a periodic motion, the robot further comprising second control means for generating a control signal according to a control rule for the movable sections not regarded as doing a periodic motion; and coordinating means for coordinating the control quantities from the control means and the second control means in order to realize a coordinated motion for the entire robot.