Robot, method for controlling robot, and recording medium

A method for controlling a robot, comprising:

• receiving an instruction to operate at least one of a tractor and a walker,
• the tractor including a connector and pulling a user through the connector,
• the walker being coupled to the tractor,
• the walker including wheels for moving the tractor, and
• the walker including one or more brakes for the wheels;
• and
• in response to reception of the instruction, determining whether or not the robot permits the tractor and/or the walker to perform a process based on the instruction, in accordance with a current state of the robot, the current state being one of a plurality of states of the robot,
• wherein each of the plurality of states of the robot is represented by using values of a plurality of items, one of the plurality of items being an item indicating whether or not the one or more brakes are applied to the wheels.

A non-transitory computer-readable recording medium storing a control program for causing a device including a processor to execute a process, the process comprising:

• receiving an instruction to operate at least one of a tractor and a walker,
• the tractor including a connector and pulling a user through the connector,
• the walker being coupled to the tractor,
• the walker including wheels for moving the tractor, and
• the walker including one or more brakes for the wheels;
• and
• in response to reception of the instruction, determining whether or not the robot permits the tractor and/or the walker to perform a process based on the instruction, in accordance with a current state of the robot, the current state being one of a plurality of states of the robot,
• wherein each of the plurality of states of the robot is represented by using values of a plurality of items, one of the plurality of items being an item indicating whether or not the one or more brakes are applied to the wheels.

A robot comprising:

• an input device that receives an instruction;
• a controller that determines a current state of the robot and whether or not to cause an operation based on the received instruction and the current state;
• a tractor that includes a connector, the tractor pulling a user through the connector;
• and
• a walker that is coupled to the tractor, the walker including wheels for moving the tractor, and the walker including one or more brakes for the wheels,
• wherein the controller determines the current state is a first state when power to the robot is turned on without the one or more brakes being applied to the wheels, the first state remaining if the controller receives no instruction during the first state,
• wherein the controller determines the current state is a second state when the power to the robot is turned on with the one or more brakes being applied to the wheels, the second state remaining if the controller receives no instruction during the second state,
• wherein, when the current state is the first state and the received instruction is an instruction to apply the one or more brakes to the wheels, the controller causes the walker to apply the one or more brakes to the wheels and determines the current state is the second state,
• wherein, when the current state is the second state and the received instruction is a first instruction to cause the tractor to move the connector to a predetermined position where the connector is coupled to a hold mechanism that supports the user, the controller causes the tractor to move the connector to the predetermined position and determines the current state is a third state, and
• wherein, when the current state is the first state and the received instruction is the first instruction, the controller does not cause the tractor to move the connector to the predetermined position without changing the current state.