ROBOT DEVICE, BEHAVIOR CONTROL METHOD FOR THE ROBOT DEVICE, AND MOVING DEVICE

摘要

A robot device observes the external world by a stereo vision system (1) and outputs stereo data (D1) as a distance image, the stereo data (D1) being three-dimensional distance information calculated by a parallax of both eyes. A plane detector (2) detects planes from the distance image to recognize the planes present in the environment. From plane data (D2), a stair recognizer (3) extracts a plane which the robot can climb up and down, recognizes a stair from that plane, and outputs stair data (D4). A stair climb-up/-down controller (4) outputs a behavior control command (D5) for realizing the movement for climbing up and down the stair by using the stair data (D4). This enables a mobile body itself to obtain information on a stair to autonomously perform the movement of stair climb up and down.