US 12,233,556 B2
Control device, control method, and program
Atsushi Irie, Kanagawa (JP); Hirotaka Suzuki, Kanagawa (JP); Takara Kasai, Tokyo (JP); Masanobu Nakamura, Tokyo (JP); and Andrew Shin, Tokyo (JP)
Assigned to SONY CORPORATION, Tokyo (JP)
Appl. No. 17/263,854
Filed by SONY CORPORATION, Tokyo (JP)
PCT Filed Jul. 25, 2019, PCT No. PCT/JP2019/029181
§ 371(c)(1), (2) Date Jan. 27, 2021,
PCT Pub. No. WO2020/031718, PCT Pub. Date Feb. 13, 2020.
Claims priority of application No. 2018-149106 (JP), filed on Aug. 8, 2018.
Prior Publication US 2021/0229284 A1, Jul. 29, 2021
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1674 (2013.01) [B25J 9/1661 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A control device comprising:
a state transition determination section configured to control an operation of a robot to perform a predetermined process before a task results in failure in a case where a state transition of the robot in performing the task follows a failure state transition that is preset as a pre-failure state,
wherein the predetermined process to be performed by the robot is determined based on
a comparison between a degree of seriousness of the pre-failure state indicated by the failure state transition and a threshold degree, and
a comparison between a number of times the pre-failure state is reached and a threshold number of times,
wherein the threshold number of times is determined according to a result of the comparison between the degree of seriousness of the pre-failure state indicated by the failure state transition and the threshold degree, and
wherein the state transition determination section is implemented via at least one processor.