Patent ID: 7797079

Claim:
An apparatus for controlling a robot, the apparatus comprising: a processor and a memory, the memory having stored thereon: a state interpretation unit determining a result on whether or not a current situation belongs to a preset unstable state, wherein the determined result is based on evaluating the current situation after receiving a plurality of perception information items input externally, wherein the state interpretation unit determines whether or not the current state has entered into an unstable state by performing logic based on a predetermined rule according to a driving signal; and a target generation unit is configured to set a target action for achieving an action performance result of the robot by comparing both of the current situation and the determined result with a predetermined value system, and then, modifying the target action by receiving a feedback of the action performance result of the robot as a next perception information item, wherein the feedback of the action performance result of the robot is used as one of a plurality of next perception information items input externally as a next current situation to determine if the set target action has been achieved, wherein the determining if the set target action has been achieved is by having the state interpretation unit determine a next result by determining whether at least one of the entered unstable state remains and whether the next result has entered into a new unstable state, and wherein at least one of the entered unstable state and the entered new unstable state are configured to be used as inputs to set a new target action or to stop the set target action.