| 摘要 |
When it is determined that first movement conditions are not satisfied but second movement conditions are satisfied and an object (2) belongs to a second classification, operation of a robot (1) is controlled so as to urge movement of the object (2) according to a first mode or an arbitrary mode. The "first movement conditions" are such conditions that the robot (1) can move without being disturbed by the object (2) by following the current track of target position, and the "second movement conditions" are such conditions that the robot (1) can move along the current track of target position without being disturbed by the object (2) because the object (2) displaces according to the first mode. The "second classification" means a classification of objects which can be moved according to action of a force from the robot (1). |
