| 摘要 |
PROBLEM TO BE SOLVED: To provide a moving device movable while further surely avoiding contact with an object, though being constituted so as to move while changing an operation state.SOLUTION: " An unmonotonous contact determination model" is used as a contact determination model. The model is defined by a local gait model Gait2 (an unmonotonous prediction passing area) of unmonotonously extending along a designation passage while fluctuating in response to a local designation operation track. Thus, fluctuation or irregularity of a space occupation mode of a robot 1 corresponding to a change in a landing mode of the robot 1 expressed by the local designation operation track, is reflected in the determination result. |
