| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot capable of suppressing the deterioration of estimation accuracy of a self position when an object is operated.SOLUTION: A robot 1 has a hand 13 for gripping an object to be gripped; a distance sensor 14 which detects distance information with an article in a detection area; and a self position estimating portion 153 which estimates a self position, on the basis of the distance information. The self position estimating portion 153, estimates the self position by eliminating the distance information in which change amount from the past distance information based on a coordination system of the hand 13 is a predetermined threshold value or less, of the distance information.SELECTED DRAWING: Figure 7 |
