Control device, control method, and program

A control method for controlling a robot that performs a task,

• the control method comprising:
• causing the robot to work separately in an independent mode and to work in collaboration with a worker in a collaborative mode;
• and
• determining whether a first predetermined condition is satisfied, based on at least one of:
• a position of the worker, a posture of the worker, a motion of the worker, a direction of a line-of-sight of the worker, a sound made by the worker, and a workpiece supplied by the worker, and switching from the independent mode to the collaborative mode when the first predetermined condition is satisfied during the independent mode, or determining whether a second predetermined condition is satisfied, based on at least one of:
• the position of the worker, the posture of the worker, the motion of the worker, the direction of the line-of-sight of the worker, the sound made by the worker, and the workpiece supplied by the worker, and switching from the collaborative mode to the independent mode when the second predetermined condition is satisfied during the collaborative mode.

A non-transitory processor-readable storage medium storing a program for causing a computer to perform operations comprising:

• causing a robot to work separately in an independent mode and to work in collaboration with a worker in a collaborative mode;
• and
• determining whether a first predetermined condition is satisfied, based on at least one of:
• a position of the worker, a posture of the worker, a motion of the worker, a direction of a line-of-sight of the worker, a sound made by the worker, and a workpiece supplied by the worker, and switching from the independent mode to the collaborative mode when the first predetermined condition is satisfied during the independent mode, or determining whether a second predetermined condition is satisfied, based on at least one of:
• the position of the worker, the posture of the worker, the motion of the worker, the direction of the line-of-sight of the worker, the sound made by the worker, and the workpiece supplied by the worker, and switching from the collaborative mode to the independent mode when the second predetermined condition is satisfied during the collaborative mode.