In any case, securing the safety of human users is essential, so the safest and most stable measures need to be taken. When a robot falls down, it will suffer physical damage or be destroyed. However, if there are people near, and if there is any possibility for people to be harmed, that is the biggest problem. Regarding the integrated system configuration, the ability to judge the situation and handle errors is a very good criterion to estimate the intelligence of a robot. In actual applications, various algorithms are executed. As the success rate of each algorithm is not guaranteed, the ability to judge the result and react in each case is needed.