| 摘要 |
PROBLEM TO BE SOLVED: To provide a legged mobile robot configured to take an image of a target with an appropriate brightness value by identifying the direction of a light source when the highly bright light source such as solar light comes into a mounted camera (imaging element). SOLUTION: When an imaged region with high brightness taken by the highly bright incident light is present on an image picked up by the imaging element (CCD camera) for taking the image by the light incident from surroundings including the target, identification of the incident direction for identifying the direction of the highly bright incident light is carried out by driving a hand or the like (S10 to S14). In addition, brightness reduction for reducing the brightness of the highly bright imaged region is carried out (S16 to S36). COPYRIGHT: (C)2009,JPO&INPIT
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