To provide a robot device movable to the next motion, and also restorable to original motion, in response to supplied input information, even during the time when performing a certain motion.
This robot device interrupts motion of " a dance ", when transfer to " looking-back " motion (a self-operation arc a3) is indicated, when performing " dance " motion (a self-motion arc a1), and transfers to a posture (for example, a node ND2) closest to a posture at interrupted time. The robot device transfers again to a node ND1 from the node ND2, and performs the " looking-back " motion (a self-motion arc a3). Afterwards, the robot device moves to a stored dance interrupting time posture from a posture of the node ND1, and performs a continuance of the " dance " motion from the posture.
KARIYA SHINICHI
TAKAGI TAKESHI
Eiichi Tamura
Seiji Iga