| 摘要 |
PROBLEM TO BE SOLVED: To correctly determine positional relation of legs and an obstacle to walking using a sight sensor installed on a base body. SOLUTION: This movable robot 1 comprises a base body 2 and plural leg parts 3, and is provided with a sight sensor 7 installed on the base body 2, an image input means to obtain image data 8 through the sight sensor 7, and a positional relation determining means for determining positional relation between an obstacle 5 to walking and the leg part 3 using the image data 8 obtained by the image input means, and it makes walking action while grasping position relation between the obstacle 5 and the leg part 3 based on result of determination of the positional relation determining means. In this case, the positional relation determining means determines positional relation between the leg part 3 and the obstacle 5 based on the image data 8 obtained by the image input means and containing both images of part of the leg part 3 and the obstacle 5 to walking of the robot 1.
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