| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot device capable of further safely walking and low in risk of losing a balance or tumbling even in walking at a place where a road face state varies. SOLUTION: The walking robot device 10 allows a robot to execute walking operation corresponding to a gait signal by driving a driving mechanism 18 on the basis of the gait signal. The walking robot device 10 is provided with a preliminary road face detection part 31 for preliminary detecting information regarding the road face for walking of the robot device, a road face condition discrimination part 32 for grasping conditions of the road face for walking of the robot device on the basis of the information regarding the road face detected by the preliminary road face detection part 31, a posture detection part 33 for detecting postural information of the robot device, and a posture discrimination part 34 for grasping the current posture of the robot device on the basis of the postural information detected by the posture detection part 33. A gait generation part 35 generates the gait signal on the basis of the conditions of the road face for walking of the robot device and the current posture. COPYRIGHT: (C)2006,JPO&NCIPI
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