Control device for mobile robot

A control device for a mobile robot having a base body, a plurality of joints, a movable link connected to the base body such that the movable link moves with respect to the base body by a motion of one or more joints among the plurality of the joints, and a joint actuator that drives each of the joints, the control device comprising at least one processor and a memory, the memory having stored thereon a program which, when executed by the at least one processor, causes the control device to function as a plurality of units, comprising:

• a joint load detecting unit that detects a load on each joint of the mobile robot;
• and
• a joint control unit which discriminates whether a load evaluation amount exceeds a predetermined threshold value in a predetermined motion state of the mobile robot, and, when the joint control unit discriminates that the load evaluation amount exceeds the predetermined threshold value in the predetermined motion state of the mobile robot, determines a desired displacement amount of each joint of the mobile robot that satisfies a requirement that the load evaluation amount remains the predetermined threshold value or less, and the joint control unit controls the joint actuator for driving each joint of the mobile robot based on the desired displacement amount,
• wherein the load evaluation amount is either a magnitude of the load detected on a particular joint of the mobile robot by the joint load detecting unit or an estimated temperature value of the joint actuator for driving the particular joint in a predetermined time obtained based on the magnitude of the load detected on the particular joint of the mobile robot by the joint load detecting unit, and
• wherein the predetermined motion state is a motion state including a motion according to a motion command.