| 摘要 |
PROBLEM TO BE SOLVED: To open/close a door even when it is difficult to open/close the door only with a driving force of a moving mechanism part. SOLUTION: A robot 1 is provided with: a moving part 200 for moving its position while rotating wheels; a hand part 205 for opening the door; an arm part 203 for changing the position of the hand part 205; and a control part 10 that determines a tilting posture for moving a gravity center position so as to further apply a force generated by its self weight to the door, and thereby controls the movement of the hand part 205, moving part 200, and arm part 203 on the basis of the determined tilting posture. COPYRIGHT: (C)2008,JPO&INPIT
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