In this robot device for identifying an obstacle on the basis of detection information from a sensor, high-precision robot control through correct obstacle identification is realized without erroneous identification of, inter alia, a leg part or arm part of the robot as an obstacle. In the present invention, a host region filter processing unit deletes object information corresponding to a constituent part of the robot device from object information included in detection information from a tactile sensor, a map image generation unit generates map data based on the object information from which the object information corresponding to the constituent part of the robot device has been deleted, and a robot control unit controls the robot device on the basis of the generated map data. The host region filter processing unit detects a variable filter region of a size that varies in accordance with the speed of operation of a movable part of the robot device, and executes a process for deleting object information within the variable filter region from the detection information from the tactile sensor.