Patent ID: 7437214
Filing Date: 2008-10-14
Classification: B62D

Abstract:
1. A robot apparatus comprising: a main body; a plurality of movable portions connected to the main body; a reference coordinate system disposed at the main body; a first local coordinate system disposed at a first floor contact position where one of the movable portions contacts a floor; first movement amount calculating means for calculating a movement amount of the reference coordinate system on the basis of the first local coordinate system; a second local coordinate system disposed at a second floor contact position where another one of the movable portions contacts the floor; second movement amount calculating means for calculating a movement amount of the reference coordinate system on the basis of the second local coordinate system; and calculating means for calculating the distance between the first local coordinate system and the second local coordinate system, wherein a movement amount of the reference coordinate system is calculated on the basis of the movement amount of the reference coordinate system based on the first local coordinate system, the movement amount of the reference coordinate system based on the second local coordinate system, and the distance between the local coordinate systems.