Patent ID: 7398136

Claim:
A system for controlling a biped robot comprising a body and two legs each connected to the body, the system comprising: a plurality of cameras mounted on the robot and capturing a stereoscopic image around the robot; captured image analyzer inputting and analyzing the image captured by the cameras; moving object detector detecting presence of a moving object around the robot based on the analyzed image and if detected, calculating a position and an angle of the moving object relative to the robot; stop motion determinator determining whether a motion of the robot needs to be stopped based on the detected position and angle of the moving object relative to the robot; and robot motion controller controlling the robot to stop the motion when the motion of the robot is determined to be stopped, such that a distance of travel of the robot from the capture of image to the stopping of motion of the robot falls within a predetermined distances, wherein the stop motion determinator is further configured to set a processing period based upon an amount of time from the capture of the image to the stopping of motion of the robot, the processing period set so that the distance of travel of the robot during the processing period does not exceed a difference of the predetermined distance and a distance traveled by two walking steps of the legs of the robot.