| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot which conducts a reaction in a manner more like a living organism. SOLUTION: According to the operation of the robot, when it is determined whether or not a human being approaches the robot and falls in a predetermined range of the robot, based on the robot and three-dimensional locational coordinates of parts of each of the robot and the human being working in cooperation with the same, distances Dlh(n), Drh(n) between the hands of the human being and respective touch sensors of the robot, are detected at a step S45, and parts (touch sensors) Tlh, Trh of the robot, that are separate respective intervals not larger than a predetermined approaching distance L and smallest among the distances Dlh(n), Drh(n), are detected. If both the parts Tlh, Trh are "0", which means that the parts are not present, a CPU specifies or estimates an estimated contact part Te, based on a direction of a sight line of the human being. If the direction of the sight line does not corresponds to the estimated contact part, however, a smaller one of the distances Dlh(n), Drh(n) is specified as the estimated contact part Te. COPYRIGHT: (C)2007,JPO&INPIT
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