Controller for mobile robot

A controller for a mobile robot, which has a base body and a plurality of movable links extended from the base body and which is configured such that a distal end portion of each of the movable links is moved with respect to the base body by a motion of a joint provided between the distal end portion of each of the movable links and the base body, comprising:

• a motion target determining unit, which sequentially determines, in the case where the mobile robot climbs up or down a structure to be climbed up or down, a motion target that defines the motion of each joint of the mobile robot so as to include a climbing up and down motion in which distal end portions of upper movable links to be supported, which are one or more movable links extended from an upper portion of the base body among the plurality of movable links and distal end portions of lower movable links to be supported, which are one or more movable links extended from a lower portion of the base body are brought into contact with the structure thereby to be supported, and in a state wherein distal end portions of movable links to be moved, which are one or more movable links other than the upper movable links to be supported and the lower movable links to be supported, are positioned away from the structure, the distal end portion of each of the movable links to be moved is moved toward desired support position and attitude to bring the distal end portion of the movable link to be moved into contact with the structure at the desired support position and attitude thereby to be supported;
• a joint control unit that controls the motion of each joint of the mobile robot according to the determined motion target;
• and
• a difference estimation unit which estimates at least one of a position and attitude difference, which is a difference between actual position and attitude of a distal end portion of each of one or more lower movable links to be supported in the climbing up or down motion of the mobile robot and desired position and attitude of the distal end portion of the lower movable link to be supported in the motion target, and a position and attitude difference, which is a difference between actual position and attitude of a distal end portion of each of one or more movable links to be moved in the climbing up or down motion of the mobile robot and desired position and attitude of the distal end portion of the movable link to be moved in the motion target;
• wherein the motion target determining unit is configured to determine the motion target such that, at the time of sequentially determining the motion target in the climbing up or down motion of the mobile robot, at least one of desired relative position/attitude of the distal end portion of each of one or more lower movable links to be supported with respect to the base body and desired support position/attitude at which the distal end portion of each of one or more movable links to be moved is to be supported by the structure is adjusted according to the estimated position and attitude difference.