从正式研究机器人以来,已有十多年了。此间,为解决机器人的操作机能及视觉和触觉的感觉机能等问题在人工智能等方面进行了广泛的研究,另一方面对在生产中实用的工业机器人也进行了深入的研究。总之,机器人工程已自成体系。本文将着重说明机器人的移动机能,概述各种移动式机器人的控制方法,介绍笔者所试制的移动式机器人。 More than a decade has passed since the formal study of robots. In the meantime, extensive research has been conducted on artificial intelligence and the like in order to solve the problems of the robot’s operation function and the sense of sight and touch. On the other hand, industrial robots that are actually used in production have also been intensively studied. In short, robot engineering has its own system. This article will focus on the robot’s mobile capabilities, an overview of a variety of mobile robot control methods introduced by the author of the trial of mobile robots.