| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot with a motion control unit having a collision avoidance function of high versatility. SOLUTION: The motion control unit of the robot comprises a distance computing module calculating and outputting two closest points of different segments of the robot or a segment of the robot and another object, a whole body control module, a collision avoidance module supplied with an output signal from the distance computing module, and a blending control unit for combining weighted output control signals of the whole body control module and the collision avoidance control module, wherein the lower the calculated collision risk, the higher the weight of the motion control output signal is, and wherein the higher the calculated collision risk, the higher the weight of the collision avoidance control output signal is. The collision avoidance module is designed for calculating the two closest points of different segments of the robot or the segment of the robot and the other object and for controlling a collision avoidance action. COPYRIGHT: (C)2009,JPO&INPIT
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