Patent ID: 7761184

Claim:
A movable robot apparatus comprising: safety level status detecting means for detecting a safety level status; safety level detecting means for detecting a safety level of said safety level status detected by said safety level status detecting means, wherein the safety level of the detected safety level status is determined by comparing the detected safety level status to a plurality of threshold values and grouping the detected safety level status as a function of the comparison result, wherein the safety level is a volume calculated as a function of a joint angle, a capability of the joint angle, a timing of a potential risk, and a planned action, and the volume is calculated as the area of one of a plurality of safe space definition circles, wherein the plurality of safe space definition circles include a safe space definition circle which contacts with a first link and a second link of one or more joint mechanisms, and a safe space definition circle which has a radius being a distance between the movable robot apparatus and an obstacle and a center being the movable robot apparatus; and control means for performing a control process so as to implement prescribed countermeasures according to said safety level status detected by said safety level status detecting means and said safety level detected by said safety level detecting means, wherein when the safety level increases, corresponding to a different safety level status, while the countermeasures are performed, the control means determines whether to maintain current countermeasures.