Patent ID: 11969876
Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 4:
5. A control method of a robot that mutually communicates with a user by interacting with the user, the control method comprising:
detecting an obstacle by a sensor;
storing a plurality of behavior types in advance in a memory, each of the plurality of behavior types being a program for causing the robot to execute predetermined behavior;
storing a behavior type executed by the robot in the memory;
determining, by referring to the memory, which of the plurality of behavior types the behavior type executed by the robot when the sensor detects the obstacle is;
determining whether a type of the obstacle detected by the sensor is the user or an object other than the user;
deciding whether first behavior for increasing opportunities of interaction with the user or second behavior for avoiding the obstacle is performed, based on the behavior type executed by the robot when the sensor detects the obstacle and the type of the obstacle detected by the sensor; and
controlling the robot to cause the robot to execute the decided behavior, wherein
in a case where the behavior type executed by the robot when the sensor detects the obstacle is behavior in which the robot moves toward a charging stand and the type of the obstacle detected by the sensor is an object other than the user,
the control method decides that the second behavior for avoiding the obstacle is performed.