Patent ID: 8253367

Claim:
A control apparatus for an elastic actuator drive mechanism, comprising; a desired value output unit that outputs a desired value of an output of an elastic actuator; an output error compensation unit that compensates an output error by receiving the desired value of the output of the elastic actuator and a measurement value of the output of the elastic actuator, the measurement value being measured by an output measurement unit; a desired internal state decision unit that decides a desired value of the internal state of the elastic actuator with respect to a measurement value of the internal state, based on a relationship between the output and the internal state of the elastic actuator, with reference to the desired value of the output of the elastic actuator, the measurement value being measured by an internal state measurement unit; an internal state error compensation unit that compensates an internal state error based on an output from the output error compensation unit and an output from the internal state measurement unit; and an abnormality determination unit that determines whether or not the output measurement unit is abnormal based on the measurement value of the output of the elastic actuator measured by the output measurement unit, the measurement value of the internal state of the elastic actuator measured by the internal state measurement unit, and the desired value of the output of the elastic actuator, wherein when the abnormality determination unit determines that the output measurement unit is abnormal, an operation of the output error compensation unit is stopped, and control is performed so that the elastic actuator continues to operate based on an output desired value as the output of the desired value output unit by the desired internal state decision unit and the internal state error compensation unit.