| 摘要 |
PROBLEM TO BE SOLVED: To provide a device capable of estimating a future contact state between different objects such as the sole of a leg type mobile robot and the floor surface with high accuracy.SOLUTION: A position and a posture of a virtual surface is searched so that an integrated cost E between a first cost Eand a second cost Eis approximated to the smallest value or the minimum value. The first cost E(e) is equivalent to the total of elastic energy using first deviation e(s) as displacement magnitude of a virtual spring group using a value of a first coefficient function w(e(s)) as a spring coefficient in an object area of a reference image. The second cost E(e, e) is equivalent to the total of elastic energy using second deviation eas displacement magnitude of a virtual spring group using a value of a second coefficient function w(e(s)) as a spring coefficient in the respective pixels s included in the object area of the reference image. |
