CONTROL DEVICE AND CONTROL METHOD

A control device includes a recognizing unit that recognizes an external environment based on sensing information, an action decision managing unit that, based on the recognized external environment, decides on actions to be taken, a behavior managing unit that, based on at least either difficulty level of recognition for the recognizing unit or difficulty level of action decision for the action decision managing unit, determines about whether or not to exhibit emotional expressions, and a drive control unit that, based on the determination performed by the behavior managing unit, controls execution of the actions corresponding to the emotional expressions.