| 摘要 |
PROBLEM TO BE SOLVED: To provide a passage forming device and a passage forming method efficiently forming a movement passage for avoiding an obstacle for a robot moving by degree of freedom of plural dimensions. SOLUTION: The passage forming device 1 forming the movement passage for avoiding an obstacle for the robot moving by the degree of freedom of plural dimensions is provided with an obstacle recognition means 2 recognizing the obstacle, a relative information calculation means 4 calculating relative information between the obstacle recognized by the obstacle recognition means 2 and the robot, a dimension setting means 5 setting a dimension for moving the robot based on the relative information calculated by the relative information calculation means 4, and a passage forming means 5 forming the movement passage in accordance with the dimension set by the dimension setting means 5. COPYRIGHT: (C)2008,JPO&INPIT
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