| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot device which solves problems of interference between a machine body and a floor surface or self-interference, and autonomously carries out initialization which is the same as the setting at the time of input of a power source, in an arbitrary position. SOLUTION: According to the configuration of the legged locomotion-type robot, a plurality of files in which an origin searching/initialization procedure is described corresponding to the respective positions, are prepared beforehand. When the power source is input or activation takes place, the robot determines the state or position of itself, and carries out initialization processing by selectively using the suitable initialization file. In each initialization file, the initialization operation carried out by solving the interference between the floor surface and the machine itself, is described in, e.g. a script format in respective relevant position. COPYRIGHT: (C)2005,JPO&NCIPI
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