Abstract: By a control processing of the sliding-mode control using a switching function configured from a first variable component, which is a deviation between an observed value and a desired value of a secondary power imparted to a secondary element (3) from a primary element (2) via an elastic deformation member (4), and a second variable component which is a temporal change rate of the deviation, so as to sequentially determine a control input to control an actuator (5) to converge the first variable component to zero on a switching hyperplane. A gradient of the switching hyperplane is set such that a time constant corresponding to the gradient of the switching hyperplane is equal to or larger than a given specific time constant.

Abstract: Provided is a control device for a link mechanism capable of preventing a damage of joint mechanisms even in the case of a collision of a movable part against an external object. The control device 30 includes: a characteristic determination unit 34 which determines desired stiffness k_cmd_i of an elastic element 5 of each joint mechanism Ji so as to be within a range of first stiffness k1_i wherein the joint maximum elastic energy is equal to or more than joint collision kinetic energy to second stiffness k2_i wherein a first time is equal to or longer than a second time; and a characteristic control unit 35 which controls stiffness k_i of the elastic element 5 of each joint mechanism Ji to be the desired stiffness k_cmd_i.

Abstract: A power transmission device has two roller members which are rotatable on their own axes and the outer peripheral portions of which are pressed against a wire member tightly stretched between two pulley members, a rotary gear which is rotatable around a revolution axial center of the roller members integrally with a supporting member which supports the roller members, a spring worm meshed with the rotary gear, and an actuator which controls the rotation amount of the spring worm.

Abstract: A power device 1 has a speed reducer 3 and a spring member 4 provided in a power transmission system between an actuator 2 and a driven element 5, an operation target of the actuator 2 is determined according to a linear combination of values that are obtained by passing through low-pass filters, a deviation ??12 between an estimated value ?1—e of a velocity of an input unit 4a of the spring member 4 and an estimated value ?2—e of a velocity of the driven element 5, and a deviation ??def between a value ?def—s of a deviation between the input unit 4a of the spring member 4 and the driven element 5, and a target value ?def_cmd of the displacement difference corresponding to a target driving force ?ref of the driven element 5.

Abstract: An actuating apparatus includes a first pulley to which a rotational power of a motor is transmitted, a second pulley to which a rotational power of the first pulley is transmitted through a wire, displacement encoders for detecting respective rotational angles of the first pulley and the second pulley, a slip amount calculator for calculating a slip amount of the second pulley with respect to the wire, and a motor controller for controlling a torque output from the motor based on the slip amount. The slip amount calculator calculates the slip amount based on a change in a rotational angular velocity of the first pulley, a difference between the rotational angles of the first pulley and the second pulley, and the torque output from the motor.

Abstract: A power transmission device 1 includes a variable stiffness unit 41, which has variable stiffness, receives a torque from a motor A2, and transmits the torque to an output unit B, a variable viscosity coefficient unit 42, which has variable viscosity, receives the torque from the motor A2, and transmits the torque to the output unit B, and a controller A4 which modifies the stiffness of the variable stiffness unit 41 and the viscosity of the variable viscosity coefficient unit 42.

Abstract: A control device 11 of a power transmission device 1 sets an allowable range of a temporal change rate of an inter-element driving force transmitted between a driving element 4 (elastic member) and a driven element 5 such that the allowable range changes in accordance with an observed value of the amount of elastic deformation of the elastic member (driving element 4), and controls the inter-element driving force, via an actuator 2, in such a way as to restrict the temporal change rate of the inter-element driving force to be within the allowable range thus set.

Abstract: An actuating apparatus has an actuator including a link having a plurality of joints and a plurality of motors for actuating the joints, and a controller for controlling the actuator. The controller controls the motors with a control torque m_?_cntrl calculated according to the equation: m_?_cntrl=M·(I?mEff)?1·(dd?_cntrl?mEff·dd?_cntrl—p)+C_cmpn from a target angular acceleration dd?_cntrl, a preceding target angular acceleration dd?_cntrl_p, a displaceable member torque response matrix Eff, an inertial matrix M, and a dynamic corrective force C_cmpn.

Abstract: A control input for controlling a driving force of an actuator (5), by a control processing of the sliding-mode control using a switching function configured from a first variable component, which is a deviation between an observed value of a secondary power imparted to a secondary element (3) from a primary element (2) via an elastic deformation member (4), and a second variable component which is a temporal change rate of the deviation, so as to converge the first variable component to zero on the switching hyperplane. A gradient of the switching hyperplane is preliminarily determined based on a response characteristics data satisfying a predetermined requirement.

Abstract: An actuating apparatus includes an actuator including flexible transmitting assemblies disposed between a plurality of joints, and a plurality of motors for actuating the joints. Each of the motors includes a variable rigidity element, the rigidity of which is variable in directions of rotation of the joints, and a controller for controlling the actuator. The controller includes a rigidity threshold value calculator for calculating rigidity threshold values of the joints, based on a required rigidity for a predetermined task position on a link and a coefficient matrix determined based on rotational angles of the motors.

Abstract: Disclosed is a robot control device including a means for determining control inputs classified by state quantity for achieving respective target values of a plurality of types of state quantities of a robot, and a means for determining a synthesized control input by synthesizing control inputs classified by frequency region while determining control inputs classified by frequency region in a plurality of respective frequency regions, according to control inputs classified by state quantity. The means determines a control input classified by frequency region corresponding to any one of the frequency regions by synthesizing the plurality of control inputs classified by state quantity in a mutually non-interfering manner. The operation of the robot is controlled so that, under a variety of operating conditions of the robot, a plurality of types of state quantities are efficiently controlled to target values which correspond to the respective types of state quantities.

Abstract: A power transmission device has two roller members which are rotatable on their own axes and the outer peripheral portions of which are pressed against a wire member tightly stretched between two pulley members, a rotary gear which is rotatable around a revolution axial center of the roller members integrally with a supporting member which supports the roller members, a spring worm meshed with the rotary gear, and an actuator which controls the rotation amount of the spring worm.

Abstract: Provided is a control device for a link mechanism capable of preventing a damage of joint mechanisms even in the case of a collision of a movable part against an external object. The control device 30 includes: a characteristic determination unit 34 which determines desired stiffness k_cmd_i of an elastic element 5 of each joint mechanism Ji so as to be within a range of first stiffness k1_i wherein the joint maximum elastic energy is equal to or more than joint collision kinetic energy to second stiffness k2_i wherein a first time is equal to or longer than a second time; and a characteristic control unit 35 which controls stiffness k_i of the elastic element 5 of each joint mechanism Ji to be the desired stiffness k_cmd_i.

Abstract: A driving speed Vd that is a speed of a driving force input point at which a driving force from a driving element is transmitted to an elastic member is acquired. An approximate rate Ve of change of an amount of elastic deformation Pe is computed based upon a plurality of values of the amount of elastic deformation Pe acquired as a quantized value at different points in time, by smoothing out an abrupt change in the values of the amount of elastic deformation Pe caused to appear by quantization. A deformation speed V is computed based upon the driving speed Vd and the approximate Ve by: V=A·(?Vd)+B·Ve where A is a coefficient increasing with increase in frequency of fluctuations in a position of the driving force input point, and B is a coefficient increasing with decrease in the frequency of fluctuations in the position of the driving force input point.

Abstract: A control input for controlling a driving force of an actuator (5), by a control processing of the sliding-mode control using a switching function configured from a first variable component, which is a deviation between an observed value of a secondary power imparted to a secondary element (3) from a primary element (2) via an elastic deformation member (4), and a second variable component which is a temporal change rate of the deviation, so as to converge the first variable component to zero on the switching hyperplane. A gradient of the switching hyperplane is preliminarily determined based on a response characteristics data satisfying a predetermined requirement.

Abstract: By a control processing of the sliding-mode control using a switching function configured from a first variable component, which is a deviation between an observed value and a desired value of a secondary power imparted to a secondary element (3) from a primary element (2) via an elastic deformation member (4), and a second variable component which is a temporal change rate of the deviation, so as to sequentially determine a control input to control an actuator (5) to converge the first variable component to zero on a switching hyperplane. A gradient of the switching hyperplane is set such that a time constant corresponding to the gradient of the switching hyperplane is equal to or larger than a given specific time constant.

Abstract: An element 22 which determines a manipulation amount for controlling a motion state of each joint 4 of a robot 1 calculates a pseudo inverse matrix A* used for calculating the manipulation amount, using a value of an adjustment parameter k determined so that an absolute value of a determinant DET is equal to or more than a predetermined threshold. Setting a provisional value of the adjustment parameter k by gradually increasing the provisional value from a predetermined initial value, calculating the determinant DET using the set provisional value, and determining whether the absolute value of the calculated determinant DET is equal to or more than the predetermined threshold is repeated, and the provisional value of the adjustment parameter k when the determination result is true is determined as the value of the adjustment parameter k used for the calculation of the pseudo inverse matrix A*.

Abstract: An actuating apparatus has an actuator including a link having a plurality of joints and a plurality of motors for actuating the joints, and a controller for controlling the actuator. The controller controls the motors with a control torque m_?_cntrl calculated according to the equation: m_?—cntrl=M·(I?mEff)?1·(dd?—cntrl?mEff·dd?—cntrl—p)+C—cmpn from a target angular acceleration dd?_cntrl, a preceding target angular acceleration dd?_cntrl_p, a displaceable member torque response matrix Eff, an inertial matrix M, and a dynamic corrective force C_cmpn.

Abstract: An actuating apparatus includes a first pulley to which a rotational power of a motor is transmitted, a second pulley to which a rotational power of the first pulley is transmitted through a wire, displacement encoders for detecting respective rotational angles of the first pulley and the second pulley, a slip amount calculator for calculating a slip amount of the second pulley with respect to the wire, and a motor controller for controlling a torque output from the motor based on the slip amount. The slip amount calculator calculates the slip amount based on a change in a rotational angular velocity of the first pulley, a difference between the rotational angles of the first pulley and the second pulley, and the torque output from the motor.

Abstract: An actuating apparatus includes an actuator including flexible transmitting assemblies disposed between a plurality of joints, and a plurality of motors for actuating the joints. Each of the motors includes a variable rigidity element, the rigidity of which is variable in directions of rotation of the joints, and a controller for controlling the actuator. The controller includes a rigidity threshold value calculator for calculating rigidity threshold values of the joints, based on a required rigidity for a predetermined task position on a link and a coefficient matrix determined based on rotational angles of the motors.