ROBOT, METHOD OF RECOGNIZING SHAPE, SHAPE RECOGNITION PROGRAM AND COMPUTER READABLE RECORDING MEDIUM RECORDING SHAPE RECOGNITION PROGRAM

摘要

PROBLEM TO BE SOLVED: To recognize the shape of an object effectively.;SOLUTION: A robot 30 has legs 1 and 2, which are connected to a controller 3 and joined to each other through a plurality of joints, and distance sensors 4 and 5, which are provided in these legs 1 and 2 and measure the distances to the objects to be measured at a plurality of timing in a specified time interval while the legs 1 and 2 move, and the controller 3 is provided with a shape detection function which detects the shape of the object based on a plurality of the distances measured by these distance sensors 4 and 5. Therefore, the distance to the object in a prescribed direction can be measured at a prescribed time interval while the legs move, and based on the plurality of the distances, the shape of the object is detected. Since the shape of the object is detected based on the distances to a plurality of the points of the object, the quantity of calculation when detecting the shape of the object becomes small, as a result, the shape of the object can be detected for recognition at a high speed.;COPYRIGHT: (C)2003,JPO