PROBLEM TO BE SOLVED: To determine an appropriate hand-over action depending on a situation.SOLUTION: A method for performing a hand-over action for handing over an object from a robot unit to a user, which is performed by a computer, includes: a step for acquiring sensor data on a peripheral situation of the robot unit and the object operated by the robot unit from a sensor of the robot unit; a step for calculating probability of cognitive classification about at least any one of a type of the object, a type of an action taken by the user, a type of the environment, and a type of a state of en electric machine of the robot unit; a step for determining the hand-over action based on the probability of the cognitive classification and a preference model; and a step for performing the determined hand-over action.SELECTED DRAWING: Figure 6
ADAPTATION OF OBJECT HAND-OVER FROM ROBOT TO HUMAN BASED ON COGNITIVE AFFORDANCE