| 摘要 |
PROBLEM TO BE SOLVED: To improve the reliability of abnormality detection in an abnormality detector for a mobile robot. SOLUTION: Whether the state quantity of the robot (the deviation of inclination (angle) of an actual machine and a model) is abnormal is self-diagnosed (S10), and when determining abnormality (an error), the abnormality information is outputted with the time and date of generation (S18). The output is stored inside (a flash memory), and transferred to an external operating ECU and stored in the external memory (S30, S32). COPYRIGHT: (C)2003,JPO
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