一、前言在现代社会中,汽车交通的重要作用不单单是由于汽车本身高度发展带来的,道路的铺设以及高速公路网络等等交通基础设施也起着非常重要的作用。同样,机器人要进入家庭和城市街道时,在机器人本身高度发展的同时,完善机器人活动的环境也是必不可少的。特别是最近一段时间,人们呼吁为建 I. Introduction In modern society, the important role of automobile transport is not only due to the high degree of development of the automobile itself, but also the transportation infrastructure such as the laying of roads and the expressway network. In the same way, when the robot enters the home and the city streets, it is also essential to perfect the environment of the robot while the robot itself is highly developed. Especially recently, people called for construction