| 摘要 |
PROBLEM TO BE SOLVED: To make a robot device and a control method of the robot device, accurately representable an object related to observation in an application to a leg type moving robot. SOLUTION: The travel amount from the grounding portion to the next grounding portion is calculated using kinematics, and coordinate transformation to the coordinate system as reference of observation is switched depending on the switching of the grounding portion. COPYRIGHT: (C)2005,JPO&NCIPI
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