| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a novel robot with a tactile sensor. Ž<P>SOLUTION: The robot 10 comprises a communication robot including, for example, tactile sensors (58 and 76) for tactile interaction. The robot 10 stores linear models exhibiting relation of operation data and tactile sensor output data respectively corresponding to a plurality of posture regions. When the robot 10 moves, it acquires the operation data, that is joint angle data, selects the linear model corresponding to the current posture region, and estimates the tactile sensor output data using the linear model. The robot 10 removes noise caused by a self-operation by subtracting an estimation value from actually acquired tactile sensor output data. The invention can remove tactile noise caused by the self-operation. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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