To provide a robot device for determining the execution situation of an action or an expression in advance, performing parallel execution of the action or the expression, shortening the execution time of commands sequential in issue, and reliably performing a command to be simultaneously performed.
An action selection unit 101 issues an action and expression meaning command to command the meaning of the action and the expression of the action of the robot device. An action and expression command control unit 102 receives the action and expression meaning command, and converts it into an action and expression performing command. An action and expression execution control unit 103 receives the action and expression execution command, and decomposes it into a control command for each control unit of the robot device. A module control unit 104 receives the control command, decomposes it into a command to each module of the robot device, and issues it to each module.
OGAMI TAKAHISA
KATO TATSUNORI
