| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot device movable to the next motion, and also restorable to original motion, in response to supplied input information, even during the time when performing a certain motion. SOLUTION: This robot device interrupts motion of " a dance ", when transfer to " looking-back " motion (a self-operation arc a3) is indicated, when performing " dance " motion (a self-motion arc a1), and transfers to a posture (for example, a node ND2) closest to a posture at interrupted time. The robot device transfers again to a node ND1 from the node ND2, and performs the " looking-back " motion (a self-motion arc a3). Afterwards, the robot device moves to a stored dance interrupting time posture from a posture of the node ND1, and performs a continuance of the " dance " motion from the posture. COPYRIGHT: (C)2005,JPO&NCIPI
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