ROBOT APPARATUS AND CONTROL METHOD THEREOF

A robot apparatus capable of offering significantly improved safety and a control method thereof by detecting a safety level status and a safety level of the safety level status and then, in response, taking prescribed countermeasures. In addition, in a movable robot apparatus and its control method, a safety level status detecting means for detecting a safety level status and a control means for performing a control process so as to implement prescribed countermeasures depending on the position of the safety level status detected by the safety level status detecting means are provided. Further, in a robot apparatus and its control method, a safety level involving an object and movable parts is detected when the object is detected, and the movable parts are moved so as to mitigate or avoid the danger based on the detected safety level and a determined action.