Patent ID: 8260457

Claim:
A robot comprising a base body, an arm extended from the base body, and a hand arranged in a tip portion of the arm, and further comprising a control system for controlling an action of the robot; wherein the control system has a first processing element, a second processing element and a third processing element; the first processing element recognizes a relative position and a relative posture of a first object with the robot as a reference; the second processing element judges whether or not the robot is in a first state wherein the robot is able to act in accordance with a first action mode on the basis of a recognition result of the first processing element; wherein the first action mode is an action mode gripping the first object by the hand according to a first action element of moving at least one of the arm and the hand on the spot without moving the robot; and the third processing element controls the action of the robot in accordance with the first action mode subject to a judgment of the second processing element that the robot is in the first state; and the third processing element controls the action of the robot in accordance with an action mode different from the first action mode so as to change one or both of the relative position and the relative posture of the first object subject to a judgment of the second processing element that the robot is not in the first state.