A command recognition device includes: an utterance understanding unit that determines or selects word sequence information from speech information; speech confidence degree calculating unit that calculates degree of speech confidence based on the speech information and the word sequence information; a phrase confidence degree calculating unit that calculates a degree of phrase confidence based on image information and phrase information included in the word sequence information; and a motion control instructing unit that determines whether a command of the word sequence information should be executed based on the degree of speech confidence and the degree of phrase confidence.