ROBOT DEVICE AND ROBOT CONTROL METHOD

In a robot device that identifies an obstacle on the basis of detection information of a sensor, highly accurate robot control by correct obstacle identification is realized without erroneously recognizing a leg, an arm, or the like of the robot itself as an obstacle. A self-region filter processing unit removes object information corresponding to a component of a robot device from object information included in detection information of a visual sensor, a map image generation unit generates map data based on object information from which the object information corresponding to the component of the robot device has been removed, and a robot control unit controls the robot device on the basis of the generated map data. The self-region filter processing unit calculates variable filter regions of different sizes according to the motion speed of the movable part of the robot device, and executes processing of removing the object information in the variable filter regions from the detection information of the visual sensor.