A command recognition device includes: an utterance understanding unit that determines or selects word sequence information from speech information; speech confidence degree calculating unit that calculates degree of speech confidence based on the speech information and the word sequence information; a phrase confidence degree calculating unit that calculates a degree of phrase confidence based on image information and phrase information included in the word sequence information; and a motion control instructing unit that determines whether a command of the word sequence information should be executed based on the degree of speech confidence and the degree of phrase confidence.
Command recognition device, command recognition method, and command recognition robot