# US 2026/0061608 A1 · Robot and control method thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2026/0061608 A1 - Document ID: US20260061608A1 - Status: Published application - Kind: A1 - Application number: 19/259,916 - Filed: 2025-07-03 - Published: 2026-03-05 - Earliest claimed: 2024-09-03 - Assignees: Samsung Electronics Co., Ltd. - Applicants: Samsung Electronics Co., Ltd. - Inventors: Sangyoung HWANG; Boseok Moon; Sanghyun Bae; Dongshin Song - Web page: https://patentgrep.com/patent/US20260061608A1 ## CPC - B25J 9/1653: {parameters identification, estimation, stiffness, accuracy, error analysis} - B25J 9/16: Program controls (total factory control, i.e. centrally controlling a plurality of machines, G05B19/418) - B25J 9/1674: {characterised by safety, monitoring, diagnostic} - B25J 13/08: by means of sensing devices, e.g. viewing or touching devices - B25J 19/02: Sensing devices - B25J 19/06: Safety devices - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A robot includes: memory storing instructions; and one or more processors including processing circuitry, wherein the instructions, when executed by the one or more processors individually or collectively, cause the robot to: monitor at least one function of the robot, wherein the at least one function is associated with performing a predetermined task; based on identifying that an error related to the at least one function has occurred, identify a type of the error; identify a degree to which the robot is able to perform the predetermined task after occurrence of the error, based on the type of the error; and modify the at least one function based on the degree to which the robot is able to perform the predetermined task. ## Claims ### Claim 1 A robot comprising: memory storing instructions; and one or more processors comprising processing circuitry, wherein the instructions, when executed by the one or more processors individually or collectively, cause the robot to: monitor at least one function of the robot, wherein the at least one function is associated with performing a predetermined task; based on identifying that an error related to the at least one function has occurred, identify a type of the error; identify a degree to which the robot is able to perform the predetermined task after occurrence of the error, based on the type of the error; and modify the at least one function based on the degree to which the robot is able to perform the predetermined task. ### Claim 2 (depends on 1) The robot of claim 1, wherein the memory further stores score information corresponding a type of an error related to each of a plurality of tasks including the predetermined task, and wherein the instructions, when executed by the one or more processors individually or collectively, further cause the robot to: identify a score corresponding to the degree to which the robot is able to perform the predetermined task based on the score information; and modify the at least one function based on the score. ### Claim 3 (depends on 1) The robot of claim 1, further comprising: at least one sensor, wherein the instructions, when executed by the one or more processors individually or collectively, further cause the robot to: obtain context information on a task environment of the robot based on sensing data obtained from the at least one sensor; and modify the at least one function based on the context information and the degree to which the robot is able to perform the predetermined task. ### Claim 4 (depends on 3) The robot of claim 3, wherein the memory further stores first score information corresponding to a type of an error related to each of a plurality of tasks including the predetermined task and second score information related to each of a plurality of task environments, and wherein the instructions, when executed by the one or more processors individually or collectively, further cause the robot to: identify, based on the first and the second score information, a first score corresponding to the degree to which the robot is able to perform the predetermined task; identify, based on the first and the second score information, a second score corresponding to the context information; and modify the at least one function based on the first score and the second score. ### Claim 5 (depends on 4) The robot of claim 4, wherein the instructions, when executed by the one or more processors individually or collectively, further cause the robot to: identify one of a plurality of control levels corresponding to the at least one function based on the first score and the second score; and modify the at least one function based on the identified control level. ### Claim 6 (depends on 5) The robot of claim 5, wherein the plurality of control levels comprises at least one of function maintenance, limited function maintenance, function stop after completion of a current task, and immediate function stop. ### Claim 7 (depends on 5) The robot of claim 5, wherein the instructions, when executed by the one or more processors individually or collectively, further cause the robot to: provide an alarm notification corresponding to the identified control level. ### Claim 8 (depends on 5) The robot of claim 5, wherein the instructions, when executed by the one or more processors individually or collectively, further cause the robot to: identify a weight to be applied to each of the first score and the second score based on a number of types of the context information; and modify the at least one function based on the first score and the second score to which the identified weight is applied. ### Claim 9 (depends on 5) The robot of claim 5, wherein the instructions, when executed by the one or more processors individually or collectively, further cause the robot to: identify, based on a type of the error, second sensing data to substitute for first sensing data of a sensor to which the error occurs among the at least one sensor; and identify the degree to which the robot is able to perform the predetermined task by substituting the first sensing data with the second sensing data. ### Claim 10 (depends on 1) The robot of claim 1, further comprising: at least one sensor, wherein the instructions, when executed by the one or more processors individually or collectively, further cause the robot to: identify one of a plurality of control levels corresponding to the at least one function by inputting, to an artificial intelligence model, type information of the error and sensing data obtained from the at least one sensor; and modify the at least one function based on the identified control level. ### Claim 11 A method of controlling a robot, the method comprising: monitoring at least one function of the robot, wherein the at least one function is associated with performing a predetermined task; based on identifying that an error related to the at least one function has occurred, identifying a type of the error; identifying a degree to which the robot is able to perform the predetermined task after occurrence of the error, based on the type of the error; and modifying the at least one function based on the degree to which the robot is able to perform the predetermined task. ### Claim 12 (depends on 11) The method of claim 11, wherein the modifying the at least one function comprises: identifying a score corresponding to the degree to which the robot is able to perform the predetermined task based on score information corresponding to a type of an error related to each of a plurality of tasks including the predetermined task; and modifying the at least one function based on the score. ### Claim 13 (depends on 11) The method of claim 11, wherein the modifying the at least one function comprises: obtaining context information on a task environment of the robot based on sensing data obtained from at least one sensor of the robot; and modifying the at least one function based on the context information and the degree to which the robot is able to perform the predetermined task. ### Claim 14 (depends on 13) The method of claim 13, wherein the modifying the at least one function further comprises: identifying, based on score information corresponding to a type of an error related to each of a plurality of tasks including the predetermined task, a first score corresponding to the degree to which the robot is able to perform the predetermined task; identifying, based on score information of each of a plurality of task environments, a second score corresponding to the context information; and modifying the at least one function based on the first score and the second score. ### Claim 15 (depends on 14) The method of claim 14, wherein the modifying the at least one function further comprises: identifying one of a plurality of control levels corresponding to the at least one function based on the first score and the second score; and modifying the at least one function based on the identified control level. ### Claim 16 A non-transitory computer readable storage medium having instructions stored therein, which when executed by one or more processors cause the one or more processors to execute a method of controlling a robot, the method comprising: monitoring at least one function of the robot, wherein the at least one function is associated with performing a predetermined task; based on identifying that an error related to the at least one function has occurred, identifying a type of the error; identifying a degree to which the robot is able to perform the predetermined task after occurrence of the error, based on the type of the error; and modifying the at least one function based on the degree to which the robot is able to perform the predetermined task. ### Claim 17 (depends on 16) The non-transitory computer readable storage medium of claim 16, wherein the modifying the at least one function comprises: identifying a score corresponding to the degree to which the robot is able to perform the predetermined task based on score information corresponding to a type of an error related to each of a plurality of tasks including the predetermined task; and modifying the at least one function based on the score. ### Claim 18 (depends on 16) The non-transitory computer readable storage medium of claim 16, wherein the modifying the at least one function comprises: obtaining context information on a task environment of the robot based on sensing data obtained from at least one sensor of the robot; and modifying the at least one function based on the context information and the degree to which the robot is able to perform the predetermined task. ### Claim 19 (depends on 18) The non-transitory computer readable storage medium of claim 18, wherein the modifying the at least one function further comprises: identifying, based on score information corresponding to a type of an error related to each of a plurality of tasks including the predetermined task, a first score corresponding to the degree to which the robot is able to perform the predetermined task; identifying, based on score information of each of a plurality of task environments, a second score corresponding to the context information; and modifying the at least one function based on the first score and the second score. ### Claim 20 (depends on 19) The non-transitory computer readable storage medium of claim 19, wherein the modifying the at least one function further comprises: identifying one of a plurality of control levels corresponding to the at least one function based on the first score and the second score; and modifying the at least one function based on the identified control level.