| 摘要 |
A legged locomotion robot capable of performing appropriate movement control of the robot while reducing arithmetic processing for recognizing the shape of a floor using an image captured by a camera, by setting predetermined landing positions of a plurality of steps of the legs (5L, 5R) of the robot (1) on a present assumed floor, which is a floor represented by floor shape information used for a current motion control of the robot, during movement of the robot; setting an image projection area (A(i)), which is projected on each of the images captured by cameras (27L, 27R) mounted on the robot (1) for each predetermined landing position, in the vicinity of each of the predetermined landing positions; and estimating shape parameters (n(i), d(i)) representing the shape of an actual floor partial area (Ar(i)), which is an actual floor whose image is captured in each partial image area, on the basis of the image of the partial image area generated by projecting the set image projection area A(i) on the images captured by the cameras (27L, 27R) for each partial image area. |
