| 摘要 |
PURPOSE:To prevent the error of mating part position from being accumulated, step up and down stairway, etc., stably, and enable to move at high speed by determining or correcting a target value at the next n+1st step by a first means based on a relative relationship detected by a second means before any n step. CONSTITUTION:A first means to determine or correct a target value on the position and/or direction of any part of a robot 1 in mobile environment and a second means 2 to detect a relative relationship to the mobile environment of the robot are provided in a control device 26 for the mobile robot 1. In this case, the first means is constructed so that the next target value at the n+1st step is determined or corrected based on a relative relationship which is detected by the second means before any n step. Accordingly, based on a relative relationship between the robot 1 and mobile environment detected before any n step, the next target value at the n+1st step is determined to prevent the error of relative position from being accumulated. |
