Patent ID: 6999851
Filing Date: 2006-02-14
Classification: G06N,Y10S

Abstract:
1. A robot apparatus including a body and a plurality of movable parts connected to said body, comprising: a plurality of movable part driving means for driving said movable parts; a local control loop for controlling one of said movable parts; local control means for controlling said local control loop; an integrated control loop serving as a higher order control loop than said local control loop for controlling said local control loop; integrated control means for controlling said integrated control loop; and priority determination means for determining priority between control amounts calculated by said local control means and said integrated control means to be used to control said movable parts based on a predetermined condition, wherein said local control means issues a notification of states of the movable part driving means of said local control loop to said integrated control means, and said integrated control means issues control instructions including target values successively corrected based on the states of the movable part driving means included in the notifications.