A robot apparatus unifies recognition results asynchronously notified before passing them to an action module and accordingly, the action module can easily handle information. Since information on observation results recognized is held as storage, even if no observation results are coming temporarily, it appears that an object is always perceived from an upper node module. As a result, the robot apparatus becomes strong against a mistake of recognition or sensor noise and can realize a stable system not depending on the recognition notification timing. Consequently, the robot apparatus unifies a plurality of recognition results from the outer world and handles them as meaningful symbol information, thereby performing sophisticated action control.
ROBOT APPARATUS AND CONTROL METHOD THEREOF