CONTROL DEVICE FOR MOBILE ROBOT

PROBLEM TO BE SOLVED: To provide a control device for a mobile robot which avoids contact with a human, even if the position of a detected human is relatively close thereto.SOLUTION: A control device for a mobile robot controls actions of moving mechanisms (leg parts) and working mechanisms (arm parts) via a plurality of actuators driving them respectively. The control device detects a human around it (S10), determines whether the position of the detected human locates inside of a first region (radius r1) designed based on the length of the working mechanisms of the robot or a second region (radius r2) designed based on the length of the robot in the gravity direction (S12, S14), and limits the action of the moving mechanisms and the working mechanism in a case where it is determined that the position of the detected human locates inside of the first region or the second region (S20 to S24).