Patent ID: 7615956

Claim:
A robot, comprising: a body side member; a distal side member rotatably jointed to the body side member; a first wire, an end of the first wire being connected to a portion of the distal side member located in one side of a rotation center, wherein the first wire rotates the distal side member in a first direction when the first wire is pulled; a first actuator to move the other end of the first wire back and forth; a second wire, an end of the second wire being connected to a portion of the distal side member located in the other side of the rotation center, wherein the second wire rotates the distal side member in a second direction when the second wire is pulled; a second actuator to move the other end of the second wire back and forth; a first controller to instruct an operation amount to the first actuator, wherein the first controller calculates a first modified instruction angle by modifying an instructed rotation angle of the distal side member based upon a deviation between the instructed rotation angle and an actual rotation angle of the distal side member, and calculates the operation amount of the first actuator based upon the first modified instruction angle; a second controller to instruct an operation amount to the second actuator, wherein the second controller calculates a second modified instruction angle by modifying the instructed rotation angle of the distal side member based upon the deviation between the instructed rotation angle and the actual rotation angle of the distal side member, and calculates the operation amount of the second actuator based upon the second modified instruction angle; and an adjustor to adjust, in accordance with a torque required to maintain the rotation angle of the distal side member at the instructed rotation angle, a magnitude of modification performed by the first controller and/or the second controller.