| 摘要 |
PROBLEM TO BE SOLVED: To provide a mobile robot capable of increasing the number of times of sampling for processing an image while reducing influence of blur in the image from image processing results during movement. SOLUTION: A robot R includes an image control processing part 10 for processing the image acquired through a camera C, a main memory part 30 for storing behavior plan information including information of an expected landing period of a leg R3, a motion control part 42 for outputting an instruction for controlling the motion of the robot based on the behavior plan information to an autonomous motion control part 50, and a motion plan information notifying part 43 for notifying the image control processing part 10 of the information of the expected landing period. The image control processing part 10 includes an image acquisition plan processing part 11 for determining timing before and after the landing as an image acquisition period from the camera C based on the expected landing period, an acquisition trigger generation part 13 for generating an acquisition trigger when the image acquisition period comes and outputting the trigger to the camera C, and an image recognition processing part 16 for processing the image acquired during the image acquisition period. COPYRIGHT: (C)2010,JPO&INPIT
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