Device and method for estimating possible existence region of specific state quantity of mobile robot

A device for estimating a possible existence region of a specific state quantity of a mobile robot, in which the possible existence region is intended for a value of a specific state quantity composed of one or more state quantities among an overall center-of-gravity position of the mobile robot which moves by a motion of repeating an air movement and a contact with an external object following the air movement of each of a plurality of contacting portions, a translational motion state quantity of the overall center of gravity, and a rotational motion state quantity about the overall center of gravity and in which the possible existence region is able to satisfy a contact reaction force constraint condition which is a constraint condition related to contact reaction forces acting on the respective contacting portions,

• wherein the device includes a polyhedron projection processing section which performs one of multi parametric linear programming processing and processing of repeating linear programming processing more than once, as polyhedron projection processing for finding a projection region obtained by projecting a convex polyhedron to a subspace representing the specific state quantity among variable components, where the convex polyhedron is within a space configured with the contact reaction forces of the plurality of contacting portions and the specific state quantity as the variable components and where the convex polyhedron is specified by a mechanical relation between the contact reaction forces and the specific state quantity and by a linear inequality representing a contact reaction force constraint condition, and the device is configured to output the projection region found by the polyhedron projection processing as an estimated region of the possible existence region.