| 摘要 |
PROBLEM TO BE SOLVED: To provide an interference determination device capable of performing interference determination without causing an actual interference and of suppressing increase in the number of components and weight and suitable for reducing constraint of the interference determination. SOLUTION: This leg wheel type robot 100 is provided with a base body 10; leg parts 12 flexibly connected to the base body 10; drive wheels 20 rotatably provided in the leg parts 12; and an object sensor comprising lasers 28-30 and a camera 32. Characteristics of an obstacle are detected based on measurement results by the object sensor. In a global coordinate Pg, based on a positional relationship between leg shank part planes identified by the posture of the leg wheel type robot 100 and shapes of the base body 10 and leg shank parts and the detected characteristics, it is determined whether or not the obstacle interferes with the leg shank parts. COPYRIGHT: (C)2009,JPO&INPIT
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