| 摘要 |
A charging apparatus for a mobile body has a charging stand, which includes a connector holder to be connected to a battery of a walking robot, a forward/backward mechanism which moves the connector holder forward/backward, and a protrusion which is driven by the forward/backward mechanism to move forward/backward as the connector holder moves forward/backward. Control information indicating the state of the forward/backward mechanism when the protrusion is located in a predetermined position, which is detected on the basis of the detection values of a retreat position sensor and an advance position sensor, is acquired, and the forward/backward mechanism is controlled according to the acquired control information thereby to move the connector holder forward/backward.
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