Control device, control method, and computer program

A control scheme for controlling a robot capable of selecting a gait from a plurality of gaits is provided. There is provided a control apparatus including: a cost map generation unit for generating a cost map for each gait of a robot capable of selecting a gait from a plurality of gaits; and a path generation unit for generating a path including gait switching of the robot using the cost map generated by the cost map generation unit. The path generation unit searches for a shortest path using a cost map of a gait having high traversal performance among the plurality of gaits, searches for a gait switching point on the resulting path, and when there is a gait switching point, defines the gait switching point as a sub-target, and re-searches for the path using a cost map of the gait selected by the target function. 提供了一种用于控制能够从多个步态中选择步态的机器人的控制方案。本发明提供了一种控制装置，该控制装置包括：成本图生成单元，用于针对能够从多个步态中选择步态的机器人的每一个步态生成成本图；以及路径生成单元，用于使用由成本图生成单元所生成的成本图来生成包括机器人的步态切换的路径。路径生成单元使用所述多个步态中具有高穿越性能的步态的成本图搜索最短路径，在所得到的路径上搜索步态切换点，并且当存在步态切换