| abstract |
(57) [Summary] [Problem] To set a suitable center of gravity position at the time of whole body cooperative movement of a robot. SOLUTION: A humanoid robot usually includes a lower limb for performing legged movement and an upper body disposed above the lower limb. The upper body is further divided into a trunk connecting the lower limbs and the hip joint, an upper limb, and a head. As a driving battery for driving at least a part of the robot, a battery pack including a nickel-based battery cell capable of supplying an inrush current of an actuator is used, but is relatively heavy. By attaching such a battery pack to the upper body, the position of the center of gravity of the entire robot is moved upward, and dynamic walking control regarded as an inverted pendulum is facilitated. Furthermore, by variably attaching the battery pack in the Z-axis direction, it is possible to set the position of the center of gravity adapted to each exercise pattern. |