A suitable posture according to a shape of a traveling surface of a robot can be stored in a storage, the suitable posture according to the shape of the traveling surface can be acquired from the storage when the robot is to be stopped, and posture control can be performed to stop the robot. A suitable stop posture analyzer that analyzes the suitable stop posture of a walking robot executes processing of analyzing the shape of the traveling surface of the walking robot, stop posture analysis processing of analyzing stop postures according to the shape of the traveling surface, stop posture evaluation value calculation processing of calculating evaluation values of the stop postures, and processing of recording, in the storage, a stop posture having a highest evaluation value among the stop postures according to the traveling surface shape. Furthermore, a stop control unit acquires the suitable stop posture corresponding to a traveling surface shape clustering group from the storage, and performs posture control to match a posture of the robot to the suitable stop posture and stop the robot.
MOVING APPARATUS AND MOVING APPARATUS CONTROL METHOD
22.08.2024
Patent
Elektronische Ressource
Englisch
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