| 摘要 |
PURPOSE:To accurately detect the existence of an obstacle irrespective of the condition of a floor face or the postures of legs by providing a distance sensor for detecting an obstacle or the difference in level in front on the front end portion of each leg of a moving mechanism. CONSTITUTION:The conditions on the periphery and in front of a multiple-leg moving mechanism 1 are photographed by means of a TV camera 4 on a universal head 3. Further, an obstacle or the difference in level in front is detected by a distance sensor 34 installed on each leg front end portion 13a, 13b of the moving mechanism 1, while detecting the landing condition of each leg portion on the floor face by means of approach sensors 32, 33 and pressure sensitive sensors 30, 31. The image signal from the TV camera 4 and the condition signals from the sensors 30-34 are inputted into a condition recognizing device to grasp the course condition of a moving course. Based on the grasped result of the course condition, the landing positions and the walking mode of the leg portions are determined by a moving mechanism control device. |
