| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a biped walking robot control device capable of preventing a collision with a moving element. <P>SOLUTION: An image inputted from a CCD camera 50R(L) is analyzed (70A), and the moving element is detected by the analyzed image to calculate moving element information (70B). When it is determined that walking of the biped walking robot should be stopped on the basis of the calculated moving element information (70k), a control value of an electric motor M for driving leg portions so as to stop the robot is calculated (70l). Analyzing of the inputted image, detection of the moving element including calculation of the moving element information, stopping determination of walking, and calculation of the control value of the leg portions are carried out so as to make the robot moving distance upon stopping from picking up the image of the CCD camera 50R(L) to stopping walking of the robot within a predetermined distance. <P>COPYRIGHT: (C)2005,JPO&NCIPI |
