Control device and control method

A control method implemented in an arithmetic device, comprising:

• recognizing an external environment based on sensing information;
• determining a difficulty level of the recognition of the external environment;
• determining, based on the recognized external environment, a first action to be taken;
• determining a difficulty level of the determination of the first action based on at least one of
• a number of options for the first action, or
• a complexity of the first action;
• determining, based on at least one of the difficulty level of the recognition or the difficulty level of the determination of the first action, whether to exhibit emotional expression;
• and
• controlling, based on the determination to exhibit the emotional expression, execution of a second action corresponding to the emotional expression.

A non-transitory computer-readable medium having stored thereon, computer-executable instructions which, when executed by a computer, cause the computer to execute operations, the operations comprising:

• recognizing an external environment based on sensing information;
• determining a difficulty level of the recognition of the external environment;
• determining, based on the recognized external environment, a first action to be taken;
• determining a difficulty level of the determination of the first action based on at least one of
• a number of options for the first action, or
• a complexity of the first action;
• determining, based on at least one of the difficulty level of the recognition or the difficulty level of the determination of the first action, whether to exhibit emotional expression;
• and
• controlling, based on the determination to exhibit the emotional expression, execution of a second action corresponding to the emotional expression.