| 摘要 |
A robot system wherein the CPU 102 detects that the posture of the system main body has been shifted from the normal posture into an abnormal posture on the basis of the acceleration information obtained as detection output of the acceleration sensor 41. Then, the body restores the normal posture by a playback technique for controlling various drivers 3D through 7D, using route planning data stored in advance in the memory 101 or restoring the normal posture from a falling posture.
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