Patent ID: 8322468

Claim:
A robot apparatus having a base unit, a wheel unit of an opposed-two-wheel type mounted on the base unit and having driving wheels drivable so as to face each other, and an upper-body unit provided on an upper portion of the base unit and configured by concatenating one or more joints, the robot apparatus comprising: an opposed-two-wheel equivalent model obtained by replacement with a wheel equivalent joint representing a degree of freedom of the wheel unit with a degree of freedom of rotation and a degree of freedom of translation of the base unit and by modeling the robot apparatus as a whole as a single manipulator structure; a robot-state observing unit observing a current state of the robot apparatus formed of an angle and an angular velocity of each of the joints of the upper-body unit and an angle and an angular velocity of the wheel unit and reflecting the current state of the robot apparatus onto the opposed-two-wheel equivalent model; a control unit performing a control arithmetic operation for the opposed-two-wheel equivalent model; a transforming unit transforming a part of control target values calculated by the control unit to a control target value for the wheel unit; and a joint control unit controlling a joint-driving actuator of the wheel unit based on the control target value of the wheel unit obtained through the transformation by the transforming unit and also controlling a joint-driving actuator other than the joint-driving actuator of the wheel unit based on a control target value calculated by the control unit.