| 摘要 |
PROBLEM TO BE SOLVED: To transmit an instruction given with a gesture of a person giving instruction to a robot without using any group of particular sensing devices. SOLUTION: The image of a pet robot PR is picked up by a digital camera 2 of a portable terminal unit Ms and the coordinate value of the QR code is sensed from the obtained image data, and on the basis of the coordinate value, the relative position of the portable terminal unit MS and the pet robot PR in between (first relative position) and their attitudes (first attitude information) are calculated. The portable terminal unit MS is directed to the target point TG and the attitude at this time (second attitude information) is sensed by an attitude sensor 5, and the relative position of the portable terminal unit MS and the target point TG in between (second attitude information) is calculated on the basis of the obtained attitude information. Finally the relative positional relation of the target point TG (target relative position) viewed from the pet robot PR is calculated on the basis of the first and second relative positions and the first and the second attitude information, and on the basis of the obtained target relative position, the pet robot PR is moved to the target point TG. COPYRIGHT: (C)2007,JPO&INPIT
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