Robot, control method of robot, and computer program product

Abstract

The invention provides a robot, a control method of the robot, and a computer program product. A robot (200) operates autonomously, and is provided with a first table, a second table, and a control unit (110). The first table associates and stores a growth parameter indicating growth of the robot (200) and data indicating lift information specifying an operation of the robot (200) in accordance with the growth parameter. The second table stores data indicating the behavior information and data indicating an operation file specifying the operation of the robot (200) in association with each other. The control unit (110) acquires a growth parameter, and causes the robot (200) to execute an operation corresponding to the acquired growth parameter on the basis of the data stored in the first table and the data stored in the second table.

Description

[0001] Cross-references to related applications

[0002] This application claims the priority and benefits of Japanese Patent Application No. 2023-159318 filed on September 25, 2023. The entire specification, claims, and drawings of Japanese Patent Application No. 2023-159318 are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to a robot, a method for controlling the robot, and a program. Background Art

[0004] Robots that simulate living things such as pets are known. For example, Japanese Patent Application Laid-Open No. 2003-285286 discloses a robot device that can make a user feel virtual growth by operating a script corresponding to the value of a growth parameter. Summary of the invention

[0005] -Problems to be solved by the invention-

[0006] The robot disclosed in Patent Document 1 can simulate the growth of a living thing by making a script action corresponding to the value of a growth parameter. In order to simulate the growth of a living thing, the action is changed according to the number of days of growth, personality, emotion, etc. The action and chirping sound are registered, and these basic actions are programmed according to various situations, and the action is realized by selecting and combining them. However, in order to add new actions such as actions or chirping sounds, the program needs to be modified, which makes it difficult to expand.

[0007] The present disclosure is to solve the above-mentioned problems, and an object of the present disclosure is to provide a robot having excellent scalability and capable of realistically simulating a living being, and a control method and program for the robot.

[0008] -Methods for solving problems-

[0009] A robot that performs actions autonomously, the robot having one or more memories and one or more control units, wherein the one or more memories have: a first table that stores growth parameters representing the growth of the robot and data representing behavior information corresponding to the growth parameters specifying the actions of the robot; and a second table that stores data representing the behavior information and data representing an action file that determines the actions of the robot, wherein the one or more control units obtain the growth parameters and cause the robot to perform actions corresponding to the obtained growth parameters based on the data stored in the first table and the data stored in the second table.

[0010] -Effects of the Invention-

[0011] According to the present disclosure, a robot having excellent scalability and capable of realistically simulating a living being, and a control method and program for the robot can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a diagram showing the appearance of a robot involved in the embodiment.

[0013] Figure 2 This is a cross-sectional view of the robot according to the embodiment as seen from the side.

[0014] Figure 3 It is a diagram showing a housing of a robot according to an embodiment.

[0015] Figure 4 FIG. 1 is a diagram showing the movement of the torsion motor of the robot according to the embodiment.

[0016] Figure 5 FIG. 2 is a second diagram showing the operation of the torsion motor of the robot according to the embodiment.

[0017] Figure 6 FIG. 1 is a first diagram showing the movement of the up-and-down motor of the robot according to the embodiment.

[0018] Figure 7 FIG. 2 is a second diagram showing the movement of the up-and-down motor of the robot according to the embodiment.

[0019] Figure 8 This is a block diagram showing the structure of a robot according to an embodiment.

[0020] Fig. 9 This is a diagram showing an example of a mood map according to an embodiment.

[0021] Fig.10 This is a diagram showing an example of a personality value radar chart according to an embodiment.

[0022] Fig.11 It is a diagram showing an example of a selection table according to the embodiment.

[0023] Fig.12 It is a diagram showing an example of a behavior table according to the embodiment.

[0024] Fig.13 It is a diagram showing an example of an action table according to the embodiment.

[0025] Fig.14 This is a flowchart showing the flow of robot control processing according to the embodiment.

[0026] Fig.15 This is a flowchart showing the flow of the motion control process involved in the embodiment. DETAILED DESCRIPTION

[0027] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. In addition, the same reference numerals are given to the same or corresponding parts in the drawings.

[0028] Figures 1 to 3 FIG. 2 shows the appearance of a robot 200 according to the present embodiment. The robot 200 is a device that operates autonomously without depending on direct operation by a user. Figure 1 As shown, the robot 200 is a pet robot imitating a small animal. The robot 200 includes an outer cover 201, wherein the outer cover 201 includes a decorative part 202 imitating eyes and furry hair 203.

[0029] like Figure 2 as well as Figure 3 As shown, the robot 200 includes a housing 207. The housing 207 is covered by the exterior 201 and is housed inside the exterior 201. The housing 207 includes a head 204, a connection part 205, and a trunk 206. The connection part 205 connects the head 204 and the trunk 206.

[0030] The outer cover 201 is an example of an outer cover member, and is formed in a bag-like shape that is long in the front-back direction and can accommodate the outer shell 207. The outer cover 201 is formed in a cylindrical shape from the head 204 to the trunk 206, and integrally covers the trunk 206 and the head 204. With the outer cover 201 having such a shape, the robot 200 is formed in a belly band shape.

[0031] In order to imitate the touch of small animals, the outerwear 201 is made of artificial plush fabric that imitates the fur 203 of small animals. The lining of the outerwear 201 is made of synthetic fibers, natural fibers, natural leather, artificial leather, synthetic resin sheets, rubber sheets, etc. Since it is made of such a flexible material, the outerwear 201 follows the movement of the housing 207. Specifically, the outerwear 201 follows the rotation of the head 204 relative to the trunk 206.

[0032] In order for the outer garment 201 to follow the movement of the outer garment 207, the outer garment 201 is attached to the outer garment 207 by means of snaps (not shown). Specifically, at least one snap is provided in front of the head 204, and at least one snap is provided in the rear of the trunk 206. In addition, snaps that fit with the snaps provided in the head 204 and the trunk 206 are provided at corresponding positions of the outer garment 201, and the outer garment 201 is fixed to the outer garment 207 by the snaps. In addition, the number and position of the snaps are examples and can be changed arbitrarily.

[0033] The trunk 206 extends in the front-to-back direction and contacts the floor, table, or other mounting surface on which the robot 200 is placed, through the outer casing 201. The trunk 206 has a torsion motor 221 at its front end. The head 204 is connected to the front end of the trunk 206 via the connecting portion 205. The connecting portion 205 has an up-and-down motor 222. Figure 2 In the embodiment, the torsion motor 221 is installed in the trunk 206, but it can also be installed in the connection part 205. Through the torsion motor 221 and the up-and-down motor 222, the head 204 can be connected to the trunk 206 so as to rotate around the left-right direction and the front-back direction of the robot 200.

[0034] In addition, as the XYZ coordinate axes, the X-axis and the Y-axis are set in the horizontal plane, and the Z-axis is set in the vertical direction. The + direction of the Z-axis is equivalent to the vertical upward direction. And, in the following, in order to facilitate the description, the robot 200 is placed on the loading surface in the direction in which the left-right direction (width direction) of the robot 200 becomes the X-axis direction and the front-back direction of the robot 200 becomes the Y-axis direction.

[0035] The connecting portion 205 connects the trunk portion 206 and the head portion 204 so as to be rotatable about a first rotation axis that passes through the connecting portion 205 and extends in the front-rear direction (Y direction) of the trunk portion 206. Figure 4 as well as Figure 5 As shown, the twist motor 221 rotates the head 204 clockwise (right rotation) within the positive rotation angle range (positive rotation) or counterclockwise (left rotation) within the reverse rotation angle range (reverse rotation) with respect to the trunk 206 about the first rotation axis.

[0036] In addition, the clockwise direction in this description refers to the clockwise direction when the head 204 is viewed from the trunk 206. In addition, clockwise rotation is also referred to as "rightward twisting rotation", and counterclockwise rotation is referred to as "leftward twisting rotation". The maximum value of the rightward or leftward twisting rotation angle is arbitrary. Figure 4 as well as Figure 5 In the figure, the angle of the head 204 when the head 204 is twisted neither to the right nor to the left (hereinafter referred to as the "twist reference angle") is represented by 0. In addition, the angle when the head 204 is twisted to the leftmost direction (counterclockwise rotation) is represented by -100, and the angle when the head 204 is twisted to the rightmost direction (clockwise rotation) is represented by +100.

[0037] In addition, the connecting portion 205 connects the trunk portion 206 and the head portion 204 so as to be rotatable about a second rotation axis that passes through the connecting portion 205 and extends in the left-right direction (width direction, X direction) of the trunk portion 206. Figure 6 as well as Figure 7As shown, the up-and-down motor 222 rotates the head 204 about the second rotation axis upward within a forward rotation angle range (forward rotation) or rotates it downward within a reverse rotation angle range (reverse rotation).

[0038] The maximum value of the upward or downward rotation angle is arbitrary, but Figure 6 as well as Figure 7 0 is used to represent the angle of the head 204 when the head 204 is neither rotated upward nor downward (hereinafter referred to as the "upper and lower reference angle"), -100 is used to represent the angle when rotated to the lowest position, and +100 is used to represent the angle when rotated to the highest position.

[0039] like Figure 2 as well as Figure 3 As shown, the robot 200 includes touch sensors 211 on the head 204 and the trunk 206. The robot 200 can detect that the user touches or taps the head 204 or the trunk 206 through the touch sensors 211.

[0040] The robot 200 has an acceleration sensor 212, a microphone 213, a gyro sensor 214, an illumination sensor 215, and a speaker 231 in the trunk 206. The robot 200 can detect changes in the posture of the robot 200 itself through the acceleration sensor 212 and the gyro sensor 214, and can also detect being lifted, changed in direction, or thrown by the user. The robot 200 can detect the illumination around the robot 200 through the illumination sensor 215. The robot 200 can detect external sounds through the microphone 213. The robot 200 can emit a chirping sound through the speaker 231.

[0041] In addition, at least a portion of the acceleration sensor 212, microphone 213, gyro sensor 214, illuminance sensor 215 and speaker 231 are not limited to being installed in the torso 206, but may also be installed in the head 204, or in both the torso 206 and the head 204.

[0042] Next, refer to Figure 8 The functional structure of the robot 200 is described below. Figure 8 As shown, the robot 200 includes a control device 100, a sensor unit 210, a drive unit 220, an output unit 230, and an operation unit 240. As an example, these units are connected via a bus BL. In addition, a wired interface such as a USB (Universal Serial Bus) cable or a wireless interface such as Bluetooth (registered trademark) may be used instead of the bus BL.

[0043] The control device 100 includes a control unit 110 and a storage unit 120 . The control device 100 controls the operation of the robot 200 through the control unit 110 and the storage unit 120 .

[0044] The control unit 110 includes a CPU (Central Processing Unit). The CPU is, for example, a microprocessor, and is a central processing unit that performs various processes and calculations. In the control unit 110, the CPU reads the control program stored in the ROM, uses the RAM as a working memory, and controls the overall movement of the device, i.e., the robot 200. In addition, although not shown in the figure, the control unit 110 includes a clock function, a timer function, etc., and can count the date and time. The control unit 110 can also be called a "processor".

[0045] The storage unit 120 includes a ROM (Read Only Memory), a RAM (Random Access Memory), a flash memory, etc. The storage unit 120 stores programs and data including an OS (Operating System) and application programs used by the control unit 110 to perform various processes. In addition, the storage unit 120 stores data generated or acquired by the control unit 110 performing various processes.

[0046] The sensor unit 210 includes the aforementioned touch sensor 211, acceleration sensor 212, gyro sensor 214, illumination sensor 215, and microphone 213. The control unit 110 obtains the detection values ​​detected by the various sensors included in the sensor unit 210 via the bus BL as external stimuli. In addition, the sensor unit 210 may also include sensors other than the touch sensor 211, acceleration sensor 212, gyro sensor 214, and microphone 213. By increasing the types of sensors included in the sensor unit 210, the types of external stimuli that the control unit 110 can obtain can be increased.

[0047] The touch sensor 211 includes, for example, a pressure sensor or an electrostatic capacitance sensor, and detects contact with a certain object. The control unit 110 can detect, based on the detection value of the touch sensor 211 , that the robot 200 is touched or hit by a user.

[0048] The acceleration sensor 212 detects acceleration applied to the trunk 206 of the robot 200. The acceleration sensor 212 detects acceleration in each of the X-axis direction, the Y-axis direction, and the Z-axis direction, that is, three-axis acceleration.

[0049] For example, the acceleration sensor 212 detects gravity acceleration when the robot 200 is stationary. The control unit 110 can detect the current posture of the robot 200 based on the gravity acceleration detected by the acceleration sensor 212. In other words, the control unit 110 can detect whether the housing 207 of the robot 200 is tilted from the horizontal direction based on the gravity acceleration detected by the acceleration sensor 212. In this way, the acceleration sensor 212 functions as an inclination detection unit that detects the inclination of the robot 200.

[0050] Furthermore, when the user lifts or throws the robot 200, the acceleration sensor 212 detects not only the gravitational acceleration but also the acceleration accompanying the movement of the robot 200. Therefore, the control unit 110 can detect the movement of the robot 200 by removing the component of the gravitational acceleration from the detection value detected by the acceleration sensor 212.

[0051] The gyro sensor 214 detects the angular velocity when rotation is applied to the trunk 206 of the robot 200. Specifically, the gyro sensor detects the angular velocity of three-axis rotations, namely, rotation about the X-axis direction, rotation about the Y-axis direction, and rotation about the Z-axis direction. By combining the detection value detected by the acceleration sensor 212 and the detection value detected by the gyro sensor 214, the movement of the robot 200 can be detected with higher accuracy.

[0052] In addition, the touch sensor 211 , the acceleration sensor 212 , and the gyro sensor 214 detect the strength of contact, acceleration, and angular velocity at synchronized timing (for example, every 0.25 seconds), and output the detection values ​​to the control unit 110 .

[0053] The microphone 213 detects sounds around the robot 200. The control unit 110 can detect, for example, that the user is calling the robot 200 or clapping, based on the components of the sounds detected by the microphone 213.

[0054] The illuminance sensor 215 detects the illuminance around the robot 200. The control unit 110 detects whether the surroundings of the robot 200 become brighter or darker based on the illuminance detected by the illuminance sensor 215.

[0055] The driving unit 220 includes a twisting motor 221 and an up-and-down motor 222, and is driven by the control unit 110. The twisting motor 221 is a servo motor for rotating the head 204 in the left-right direction (width direction) with respect to the trunk 206 with the front-and-back direction as an axis. The up-and-down motor 222 is a servo motor for rotating the head 204 in the up-and-down direction (height direction) with respect to the trunk 206 with the left-and-right direction as an axis. The robot 200 can perform an action of twisting the head 204 to the side through the twisting motor 221, and can perform an action of raising and lowering the head 204 through the up-and-down motor 222.

[0056] The output unit 230 includes a speaker 231, and the control unit 110 inputs sound data to the output unit 230, and the sound is output from the speaker 231. For example, the control unit 110 inputs the data of the chirping sound of the robot 200 to the output unit 230, and the robot 200 emits a virtual chirping sound.

[0057] In addition, the output unit 230 may replace the speaker 231 or include a display such as a liquid crystal display or a light emitting unit such as an LED (Light Emitting Diode) on the basis of the speaker 231 to display emotions such as joy and sadness on the display or express them using the color and brightness of the emitted light.

[0058] The operation unit 240 includes operation buttons, a volume knob, etc. The operation unit 240 is an interface for receiving user operations such as turning on and off the power supply and adjusting the volume of output sound.

[0059] Next, the functional structure of the control unit 110 is described. Figure 8 As shown, the control unit 110 functionally includes: an external stimulus acquisition unit 111 as an example of an external stimulus acquisition unit; a parameter setting unit 113 as an example of a parameter setting unit; and an action control unit 114 as an example of an action control unit. In the control unit 110, the CPU reads the program stored in the ROM to the RAM and executes the program to perform control, thereby performing the functions of these units.

[0060] The storage unit 120 also stores parameter data 121, a selection table 123, a behavior table 124, and an action table 125. The selection table 123 is an example of a first table, and the behavior table 124 is an example of a second table.

[0061] The external stimulus acquisition unit 111 acquires an external stimulus. The external stimulus is a stimulus that acts on the robot 200 from outside the robot 200. Examples of the external stimulus include "making a loud sound", "being talked to", "being touched", "being lifted up", "being turned upside down", "becoming brighter", "becoming darker", etc. The external stimulus is hereinafter also referred to as an "event".

[0062] The external stimulus acquisition unit 111 acquires external stimulus based on the detection value of the sensor unit 210. More specifically, the external stimulus acquisition unit 111 acquires multiple external stimuli of different types through multiple sensors (touch sensor 211, acceleration sensor 212, microphone 213, gyro sensor 214, illuminance sensor 215) included in the sensor unit 210.

[0063] For example, the external stimulus acquisition unit 111 acquires external stimulus based on “making a loud sound” or “being spoken to” through the microphone 213. The external stimulus acquisition unit 111 acquires external stimulus based on “being touched” through the touch sensor 212. The external stimulus acquisition unit 111 acquires external stimulus based on “being lifted up” or “being turned upside down” through the acceleration sensor 212 and the gyro sensor 214. The external stimulus acquisition unit 111 acquires external stimulus based on “becoming brighter” or “becoming darker” through the illumination sensor 215.

[0064] The parameter setting unit 113 sets parameter data 121. The parameter data 121 is data that specifies various parameters related to the robot 200. Specifically, the parameter data 121 includes (1) growth days, (2) emotion parameters, (3) emotion change amount, and (4) personality parameters.

[0065] (1) Growth Days

[0066] The growth days represent the virtual growth days of the robot 200. The robot 200 is virtually born at the first start-up by the user after leaving the factory, and grows from a baby to an adult over a given growth period. The growth days are equivalent to the number of days from the virtual birth of the robot 200. The growth days are an example of a growth parameter representing the growth of the robot.

[0067] The initial value of the growth days is 0, and the parameter setting unit 113 adds 1 to the growth days every time a day passes. The initial startup is an example of a reference date and time, and the growth days are an example of the elapsed time from the reference date and time indicating the growth of the robot.

[0068] (2) Emotional parameters

[0069] The parameter setting unit 113 sets emotion parameters. The emotion parameters are parameters for causing the robot 200 to express virtual emotions. The emotion parameters are expressed by coordinates (X, Y) on the emotion map 300 .

[0070] like Fig. 9 As shown, the emotion map 300 is represented by a two-dimensional coordinate system having an axis of comfort (uneasiness) as the X-axis and an axis of excitement (boredom) as the Y-axis. The origin (0, 0) on the emotion map represents the emotion at normal times. The value of the X coordinate (X value) is positive and the greater its absolute value is, the higher the emotion of comfort is, while the value of the Y coordinate (Y value) is negative and the greater its absolute value is, the higher the emotion of anxiety is. The value of the Y coordinate (Y value) is positive and the greater its absolute value is, the higher the emotion of excitement is, while the value of the Y coordinate (Y value) is negative and the greater its absolute value is, the higher the emotion of boredom is.

[0071] The emotion parameter represents multiple (four in this embodiment) different virtual emotions. Fig. 9In the example, the values ​​representing virtual emotions, namely, the degree of comfort and the degree of anxiety, are collectively represented on one axis (X axis), and the degree of excitement and the degree of boredom are collectively represented on another axis (Y axis). Therefore, the emotion parameter has two values, namely, the X value (degree of comfort, degree of anxiety) and the Y value (degree of excitement, degree of boredom), and the points on the emotion map 300 represented by the X value and the Y value represent the virtual emotions of the robot 200. The initial value of the emotion parameter is (0, 0).

[0072] In addition, Fig. 9 In the embodiment, the emotion map 300 is represented by a two-dimensional coordinate system, but the number of dimensions of the emotion map 300 is arbitrary. The emotion map 300 may be defined in one dimension, and a single value may be set as an emotion parameter. In addition, other axes may be added to define the emotion map 300 using a coordinate system of three or more dimensions, and the number of values ​​of the number of dimensions of the emotion map 300 may be set as an emotion parameter.

[0073] like Fig. 9 As shown in the frame 301 of FIG. 3 , the initial value of the size of the emotion map 300 is 100 for the maximum value and -100 for the minimum value, regardless of the X value or the Y value. During the growth period (e.g., 50 days) of the robot 200, the parameter setting unit 113 increases the maximum value and the minimum value of the emotion map 300 by 2 each time the number of virtual growth days of the robot 200 increases by 1 day.

[0074] If the number of days of growth exceeds half of the growth period (e.g. 25 days), then Fig. 9 As shown in the box 302 of , regardless of the X value or the Y value, the maximum value is 150 and the minimum value is -150. And, after the growth period (e.g., 50 days) has passed, the virtual growth of the robot 200 stops. At this time, Fig. 9 As shown in the frame 303 of FIG. 3 , regardless of the X value or the Y value, the maximum value is 200 and the minimum value is −200. After that, the size of the emotion map 300 is fixed.

[0075] The setting range of the emotion parameter is determined by the emotion map 300. Therefore, as the size of the emotion map 300 increases, the setting range of the emotion parameter increases. By increasing the setting range of the emotion parameter, richer emotions can be expressed, and thus the virtual growth of the robot 200 can be expressed by increasing the size of the emotion map 300.

[0076] In addition, the stop condition of the virtual growth of the robot 200 is not limited to the elapse of the growth period, and other conditions may be added.

[0077] (3) Amount of emotional change

[0078] The emotion change amount is data indicating the degree of change of the virtual emotion of the robot 200, and determines the change amount by which the X value and Y value of the emotion parameter are increased or decreased. The emotion change amount is represented by the following four variables. DXP and DXM increase and decrease the X value of the emotion parameter, respectively. DYP and DYM increase and decrease the Y value of the emotion parameter, respectively.

[0079] DXP: ease of feeling (ease of change in the positive direction of the X value in the emotion map)

[0080] DXM: Ease of becoming uneasy (Ease of changing to the negative direction of the X value in the emotion map)

[0081] DYP: Degree of excitement (ease of change in the positive direction of the Y value in the emotion map)

[0082] DYM: Ease of becoming bored (ease of change in the negative direction of the Y value in the mood map)

[0083] The initial value of each of these emotion change amounts DXP, DXM, DYP, and DYM is 10, and is updated by learning described later. The parameter setting unit 113 updates the emotion parameter by adding or subtracting the value corresponding to the external stimulus among the emotion change amounts DXP, DXM, DYP, and DYM.

[0084] For example, if the head 204 is stroked, the virtual emotion of the robot 200 is comfort, so the parameter setting unit 113 adds DXP to the X value of the emotion parameter. On the contrary, if the head 204 is hit, the virtual emotion of the robot 200 becomes anxiety, so the parameter setting unit 113 subtracts DXM from the X value of the emotion parameter. It is possible to arbitrarily set what amount of emotion change is associated with various external stimuli. An example is shown below.

[0085] Patting the head 204 (reassuring): X = X + DXP

[0086] Hitting the head 204 (becoming restless): X = X-DXM

[0087] (These external stimuli can be detected by the touch sensor 211 of the head 204)

[0088] Touching the trunk 206 (excitement): Y = Y + DYP

[0089] Hitting the torso 206 (getting bored): Y = Y-DYM

[0090] (These external stimuli can be detected by the touch sensor 211 of the torso 206)

[0091] Holding head up (joy): X = X + DXP and Y = Y + DYP

[0092] Hanging upside down (sad): X == X-DXM and Y = Y-DYM

[0093] (These external stimuli can be detected by the touch sensor 211 and the acceleration sensor 212)

[0094] Call with a gentle voice (become stable): X=X+DXP and Y=Y-DYM

[0095] Shouting (anxiety): X = X-DXM and Y = Y+DYP

[0096] (These external stimuli can be detected by microphone 213)

[0097] The external stimulus acquisition unit 111 acquires multiple external stimuli of different types using multiple sensors provided in the sensor unit 210. To this end, the parameter setting unit 113 derives various emotion variation amounts corresponding to the multiple external stimuli, and sets emotion parameters corresponding to the derived emotion variation amounts.

[0098] The maximum and minimum values ​​of the X and Y values ​​of the emotion parameter are determined by the size of the emotion map 300. Therefore, when the above calculation exceeds the maximum value of the emotion map 300, the maximum value is set, and when it is less than the minimum value of the emotion map 300, the minimum value is set.

[0099] The parameter setting unit 113 updates the variables of the emotion change amounts DXP, DXM, DYP, and DYM in accordance with the external stimulus acquired by the external stimulus acquisition unit 111. Specifically, the parameter setting unit 113 adds 1 to DXP if the X value of the emotion parameter is set to the maximum value of the emotion map 300 at least once in a day, and adds 1 to DYP if the Y value of the emotion parameter is set to the maximum value of the emotion map 300 at least once in a day. In addition, the parameter setting unit 113 adds 1 to DXM if the X value of the emotion parameter is set to the minimum value of the emotion map 300 at least once in a day, and adds 1 to DYM if the Y value of the emotion parameter is set to the minimum value of the emotion map 300 at least once in a day.

[0100] In this way, the parameter setting unit 113 changes the amount of emotion change in accordance with the condition of whether the value of the emotion parameter reaches the maximum value or the minimum value of the emotion map 300. Such updating of each variable is called learning of the amount of emotion change. As an example, the initial value of each variable of the amount of emotion change is set to 10. The parameter setting unit 113 increases each variable to a maximum of 20 through the above-mentioned updating (learning). Through this learning process, the amount of emotion change, that is, the degree of change of emotion, changes.

[0101] For example, if only the head 204 is stroked many times, only the emotion variation DXP increases, and other emotion variation amounts do not change, so the robot 200 becomes a character that is easy to feel at ease. In addition, if only the head 204 is tapped many times, only the emotion variation DXM increases, and other emotion variation amounts do not change, so the robot 200 becomes a character that is easy to become uneasy. In this way, the parameter setting unit 113 changes the emotion variation amount according to various external stimuli.

[0102] In addition, the value added to each variable of the emotion change amount is not limited to 1. For example, the number of times each value of the emotion parameter is set to the maximum value or the minimum value of the emotion map 300 may be counted, and when the number of times is large, the value added to the emotion change is increased. In addition, the conditions for learning the emotion change amount are not limited to the above. For example, if the X value or Y value of the emotion parameter reaches a given value (for example, a value 0.5 times the maximum value or a value 0.5 times the minimum value of the emotion map 300) at least once, the emotion change amount is learned. In addition, the period is not limited to the period of one day, and it may be another period such as half a day or one week. If the X value or Y value of the emotion parameter reaches a given value at least once, the emotion change amount is learned. In addition, instead of a fixed period such as one day, the emotion change amount may be learned if the X value or Y value of the emotion parameter reaches a given value at least once during a period until the number of acquisitions of external stimuli reaches a given number of times (for example, 50 times).

[0103] (4) Personality parameters

[0104] The personality parameter is a parameter indicating the virtual personality of the robot 200. The personality parameter includes a plurality of personality values ​​indicating different degrees of personality. The parameter setting unit 113 changes the plurality of personality values ​​included in the personality parameter in accordance with the external stimulus acquired by the external stimulus acquisition unit 111.

[0105] Specifically, the parameter setting unit 113 calculates four personality values ​​according to the following (Formula 1). That is, the value obtained by subtracting 10 from DXP indicating ease of feeling at ease is set as the personality value (cheerful), the value obtained by subtracting 10 from DXM indicating ease of becoming uneasy is set as the personality value (shy), the value obtained by subtracting 10 from DYP indicating ease of feeling excited is set as the personality value (lively), and the value obtained by subtracting 10 from DYM indicating ease of becoming bored is set as the personality value (coquettish).

[0106] Personality value (cheerful) = DXP-10

[0107] Personality value (shy) = DXM-10

[0108] Personality value (lively) = DYP-10

[0109] Personality value (acting like a spoiled child) = DYM-10

[0110] …(Formula 1)

[0111] Therefore, if Fig.10 As shown, by plotting the personality value (cheerful) on the first axis, the personality value (lively) on the second axis, the personality value (shy) on the third axis, and the personality value (coquettish) on the fourth axis, a personality value radar chart 400 can be generated. Since the initial value of each variable of the emotion change amount is 10 and the maximum value increases to 20, the range of the personality value is greater than 0 and less than 10.

[0112] Since the initial value of each personality value is 0, the personality of the robot 200 at birth is represented by the origin of the personality value radar graph 400. Then, as the robot 200 grows, the four personality values ​​change with 10 as the upper limit due to external stimuli detected by the sensor unit 210 (how the user interacts with the robot 200). Thus, 11 to the fourth power = 14641 types of personality can be expressed.

[0113] In this way, the robot 200 has various personalities in accordance with the way the user interacts with the robot 200. That is, the personality of the robot 200 is formed differently according to the way the user interacts with the robot 200.

[0114] The motion control unit 114 causes the robot 200 to perform motions based on the data stored in the selection table 123, the behavior table 124, and the motion table 125. The motion control unit 114 performs motion control processing using the external stimulus detected by the external stimulus acquisition unit 111 as a trigger (hereinafter referred to as an "action trigger"). In addition, the motion control unit 114 performs spontaneous motions such as breathing motions.

[0115] When the motion control unit 114 starts the motion control process, it obtains the number of days of growth and refers to Fig.11The selection table 123 shown reads out the probability of selecting an action corresponding to the action trigger given when executing the action control process and the number of growth days. Then, the action control unit 114 uses a random number to select the type of action based on the read probability of the selected action. Next, the action control unit 114 selects a behavior ID (IDentification) from the selected action. The behavior ID specifies the action of the robot 200 corresponding to the number of growth days. In addition, the behavior ID is an example of behavior information. For example, when "basic behavior" is selected, a random number is used to select from behavior IDs 20 to 22. In addition, when "personality behavior" is selected, a selection is made from behavior IDs 30 to 33 based on personality parameters. Specifically, the personality with the largest value among the personality value (cheerful), personality value (shy), personality value (lively), and personality value (coquettish) is set as the personality of the robot 200. If the personality is cheerful, select behavior ID 30, if the personality is shy, select behavior ID 31, if the personality is lively, select behavior ID 32, and if the personality is coquettish, select behavior ID 33 (refer to Fig.12 ) When "emotional behavior" is selected, a selection is made from behavior IDs 40 to 42 using a random number or the like.

[0116] Next, the action control unit 114 obtains the action file specified in the behavior table 124 based on the selected behavior ID. The action file is stored in Fig.13 The action control unit 114 obtains the sound data representing the chirping sound stored in the behavior table 124 together with the action file. Then, the action control unit 114 causes the robot 200 to move based on the action file and the data representing the chirping sound. When "0m211.txt" is selected as the action file, the action control unit 114 refers to Fig.13 The action table 125 shown first controls the twist motor 221 and the up-down motor 222 to make the angle 0 degree after 100 milliseconds, and then controls the angle of the up-down motor 222 to -24 degrees after 100 milliseconds. Then, the action control unit 114 does not rotate for 700 milliseconds, and then controls the angle of the twist motor 221 to 34 degrees and the angle of the up-down motor 222 to -24 degrees after 500 milliseconds. Then, the action control unit 114 controls the angle of the twist motor 221 to -34 degrees after 400 milliseconds, and then controls both the twist motor 221 and the up-down motor 222 to make the angle 0 degree after 500 milliseconds, completing the action. In addition, the action control unit 114 briefly reproduces the sound of "beep" from the speaker 231 in parallel with the driving of the twist motor 221 and the up-down motor 222 through the sound data of the sound of "beep" that is briefly beeped.

[0117] like Fig.11 As shown, the selection table 123 stores data indicating an action trigger, data indicating the elapsed time from the reference date, i.e., the number of days of growth, data indicating a behavior ID, and data indicating the probability of selecting the behavior ID in correspondence. Here, the action trigger is exemplified by the example of "stroking the head", but as long as it is an action trigger or an external stimulus given to the robot 200, it is not particularly limited, and may include "making a loud sound", "being talked to", "being stroked on the trunk", "being lifted up", "being turned upside down", "becoming brighter" or "becoming darker", etc. In this case, the selection table 123 stores data indicating the number of days of growth, data indicating a behavior ID, and data indicating the probability of selecting the behavior ID in correspondence for each of these action triggers. In addition, in this example, when the number of days of growth is 0 to 2 days, "baby behavior" is selected. When the number of days of growth is 3 to 6 days, "baby behavior" or "basic behavior" is selected. When the number of days of growth is 4 days, "baby behavior" is selected with a probability of 60% and "basic behavior" is selected with a probability of 40%. When the number of days of growth is more than 7 days, "Basic behavior", "Personality behavior" or "Emotional behavior" is selected. When the number of days of growth is 16-20 days, "Basic behavior" is selected with a probability of 45%, "Personality behavior" 35%, and "Emotional behavior" 20%.

[0118] like Fig.12 As shown, the behavior table 124 stores data indicating behavior ID, data indicating action content, data indicating action file that specifies the action of the robot 200, sound data indicating chirping sound, and data indicating the amount of emotion change in a corresponding manner. The amount of emotion change stored in the behavior table 124 corresponds to the action trigger stored in the selection table 123 through the behavior ID. Therefore, the amount of emotion change corresponds to the external stimulus.

[0119] like Fig.13 As shown, the action table 125 is a table for determining how the action control unit 114 controls the twist motor 221 and the up-and-down motor 222 for each action determined in the selection table 123. Specifically, the action table 125 determines the action time (milliseconds), the action angle of the twist motor 2211 after the action time, and the action angle of the up-and-down motor 222 after the action time for each action.

[0120] Next, refer to Fig.14 To explain the flow of robot control processing. Fig.14 The robot control process shown is executed by the control unit 110 of the control device 100 when the user turns on the power of the robot 200. The robot control process is an example of a control method of the robot 200.

[0121] When the robot control process is started, the control unit 110 functions as the parameter setting unit 113 and sets the parameter data 121 (step S101). When the robot 200 is first started (when the user starts it for the first time after leaving the factory), the control unit 110 sets each parameter of the growth days, the emotion parameter, the emotion change amount, and the personality parameter to an initial value (for example, 0). On the other hand, when starting the robot 200 for the second time or later, the control unit 110 reads the value of each parameter saved in step S110 described later in the previous robot control process and sets it as the parameter data 121. However, the emotion parameters may be all initialized to 0 every time the power is turned on.

[0122] If the parameter data 121 is set, the control unit 110 determines whether there is an external stimulus detected by the sensor unit 210 (step S102). If it is determined that there is an external stimulus (step S102; yes), the control unit 110 functions as the external stimulus acquisition unit 111 and acquires the external stimulus from the sensor unit 210 (step S103).

[0123] Next, the control unit 110 executes the motion control process using the external stimulus acquired in step S103 as a trigger (step S104 ), and then proceeds to step S107 .

[0124] On the other hand, if it is determined in step S102 that there is no external stimulation (step S102; No), the control unit 110 determines whether a spontaneous action such as breathing is performed (step S105). The method of determining whether a spontaneous action is performed is arbitrary, for example, the determination of step S105 is yes every first reference time (e.g., 5 seconds).

[0125] When a spontaneous motion is being performed (step S105; Yes), the control unit 110 uses "the passage of the first reference time" as an action trigger to execute spontaneous motion processing including breathing motion and the like (step S106), and then proceeds to step S107.

[0126] Next, refer to Fig.15 The motion control process executed in step S104 will be described.

[0127] When the motion control process starts, the control unit 110 obtains the number of growth days (step S201 ).

[0128] Next, the control unit 110 refers to Fig.11 The selection table 123 shown reads out the probability of selecting the action corresponding to the action trigger given when executing the action control process and the number of growth days obtained in step S201 (step S202). Then, the control unit 110 selects the type of action using a random number based on the read probability of selecting the action (step S203).

[0129] For example, when the number of days of growth is 8 and the action trigger is "being petted on the head", the control unit 110 selects "basic behavior" with a probability of 60%, "personality behavior" with a probability of 20%, and "personality behavior" with a probability of 20% as the type of action (see Fig.11 ).

[0130] Next, the control unit 110 selects a behavior ID from the selected action (step S204). For example, when "basic behavior" is selected, a selection is made from behavior IDs 20 to 22 using a random number or the like. Furthermore, when "personality behavior" is selected, a selection is made from behavior IDs 30 to 33 based on personality parameters. Specifically, the personality with the largest value among personality value (cheerful), personality value (shy), personality value (lively), and personality value (coquettish) is set as the personality of the robot 200. When the personality is cheerful, behavior ID 30 is selected; when the personality is shy, behavior ID 31 is selected; when the personality is lively, behavior ID 32 is selected; and when the personality is coquettish, behavior ID 33 is selected (see Fig.12 ) When "emotional behavior" is selected, a selection is made from behavior IDs 40 to 42 using a random number or the like.

[0131] Next, the control unit 110 obtains the action file specified in the behavior table 124 based on the selected behavior ID (step S205). The action file is saved in Fig.13 The control unit 110 also acquires the sound data representing the chirping sound together with the action file, and stores the sound data representing the chirping sound in the behavior table 124.

[0132] Next, the control unit 110 operates the robot 200 based on the data indicating the operation file and the chirping sound (step S206). When ID20 is selected as the selected ID and "0m211.txt" is selected as the operation file, the operation control unit 114 refers to Fig.13The action table 125 shown first controls the twisting motor 221 and the up-and-down motor 222 to make the angle 0 degree after 100 milliseconds, and then controls the angle of the up-and-down motor 222 to -24 degrees after 100 milliseconds. Then, the action control unit 114 does not rotate for 700 milliseconds thereafter, and then controls the angle of the twisting motor 221 to 34 degrees and the angle of the up-and-down motor 222 to -24 degrees after 500 milliseconds thereafter. Then, the action control unit 114 controls the angle of the twisting motor 221 to -34 degrees after 400 milliseconds thereafter, and then controls the angle of both the twisting motor 221 and the up-and-down motor 222 to 0 degree after 500 milliseconds thereafter, and completes the action. In addition, the action control unit 114 briefly replays the sound of "beep" from the speaker 231 through the sound data of the sound of "wow" thereafter in parallel with the driving of the twisting motor 221 and the up-and-down motor 222.

[0133] Next, the control unit 110 obtains the emotion change amount specified in the behavior table 124, and updates the emotion parameter by adding or subtracting the emotion change amount from the current emotion parameter (step S207).

[0134] Next, the control unit 110 sets the personality parameter along with updating the emotion parameter (step S208). Specifically, the control unit 110 calculates each personality value of the personality parameter from the emotion change amount according to the above (Formula 1).

[0135] Back to Fig.14 After executing step S104 or step S106, the control unit 110 determines whether to end the processing (step S107). If the processing is not ended (step S107; No), the control unit 110 determines whether the date has changed through the clock function (step S108). If the date has not changed (step S108; No), it returns to step S102.

[0136] When the date has changed (step S108; Yes), the control unit 110 adds 1 to the number of days of growth (step S109), and returns to step S102.

[0137] On the other hand, if the operation unit 240 receives the user's instruction to turn off the power of the robot 200, the processing ends. In the case of ending the processing (step S107; yes), the control unit 110 saves the current parameter data 121 to the non-volatile memory (e.g., flash memory) of the storage unit 120 (step S110), and ends. Fig.14 The robot control process shown.

[0138] As described above, the robot 200 involved in this embodiment has excellent scalability by having the selection table 123 and the behavior table 124, and can simulate a living being realistically. The selection table 123 stores data indicating an action trigger, data indicating the number of days of growth, data indicating a behavior ID, and data indicating the probability of selecting a behavior ID in correspondence. Thus, the control unit 110 can select the optimal behavior ID from the behavior IDs stored in the selection table 123 according to the action trigger and the number of days after birth. The behavior table 124 stores data indicating a behavior ID, data indicating an action file that determines the action of the robot 200, sound data indicating a chirping sound, and data indicating the amount of emotion change in correspondence. Thus, the control unit 110 can cause the robot 200 to perform the action specified in the behavior table 124 based on the selected behavior ID and update the emotion parameters. In this way, by dividing into two tables, the selection table 123 for selecting the optimal behavior ID according to the action trigger and the number of days after birth, and the behavior table 124 for determining the action file corresponding to the behavior ID, it is easier to expand and maintain even if the types of data such as action files increase compared to the case of controlling the action with one table. As a result, the robot 200 can simulate a living being realistically. In contrast, if the selection table 123 and the behavior table 124 are combined into one table, there are the following problems: the information becomes complicated, it is not easy to expand, and it takes time to maintain.

[0139] (Variation Example)

[0140] The embodiments of the present disclosure have been described above, but the above embodiments are examples, and the scope of application of the present disclosure is not limited thereto. That is, the embodiments of the present disclosure can be applied in various ways, and all embodiments are included in the scope of the present disclosure.

[0141] In the above embodiment, an example is described in which the growth parameter is virtually born at the first startup of the user after leaving the factory and the number of days of growth from the birth, but the growth parameter is not particularly limited as long as it represents the virtual growth of the robot 200. For example, the growth parameter may be a value accumulated by the number of times the external stimulus is obtained, or a parameter determined based on the value accumulated by the number of times the external stimulus is obtained and the number of days of growth. In this way, the robot 200 can grow in response to the external stimulus after the first startup, allowing the user to feel the virtual growth.

[0142] In the above embodiment, an example of storing the amount of emotion change in the behavior table 124 is described, but the amount of emotion change can be any amount as long as it can cause the virtual emotion of the robot 200 to change. For example, the amount of emotion change can be stored in the selection table 123 corresponding to the action trigger. In this case, the parameter setting unit 113 updates the emotion parameter based on the amount of emotion change corresponding to the action trigger. Thereafter, the parameter setting unit 113 sets the personality parameter representing the virtual personality of the robot 200 as the emotion parameter is updated, and sets the virtual personality of the robot based on the personality parameter. In addition, the parameter setting unit 113 can also update the amount of emotion change in response to the external stimulus obtained by the external stimulus acquisition unit 111. In this way, the robot 200 can also simulate a living being realistically.

[0143] In the above embodiment, the outer garment 201 is formed in a cylindrical shape from the head 204 to the torso 206, and the robot 200 is formed in a bellyband shape. However, the robot 200 is not limited to a creature that imitates the bellyband shape. For example, the robot 200 may also be a creature with hands and feet that simulates walking with four feet or two feet.

[0144] In the above embodiment, the control device 100 is built into the robot 200, but the control device 100 may not be built into the robot 200, but may be a separate device (such as a server). In the case where the control device 100 exists outside the robot 200, the robot 200 communicates with the control device 100 via the communication unit, and transmits and receives data to each other. The external stimulus acquisition unit 111 acquires the external stimulus detected by the sensor unit 210 through communication with such a robot 200, and the action control unit 114 controls the drive unit 220 and the output unit 230.

[0145] In the above-mentioned embodiment, in the control unit 110, the CPU performs functions as each part of the external stimulus acquisition unit 111, the parameter setting unit 113 and the action control unit 114 by executing the program stored in the ROM. However, in the present disclosure, the control unit 110 is not limited to the case where only one CPU is used for processing, and multiple CPUs may also perform processing together. In addition, the control unit 110 may also replace the CPU, for example, with dedicated hardware such as ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array) or various control circuits, and the dedicated hardware may perform functions as each part of the external stimulus acquisition unit 111, the parameter setting unit 113 and the action control unit 114. In this case, the functions of each part may be realized by individual hardware, or the functions of each part may be summarized and realized by a single hardware. In addition, part of the functions of each part may be realized by dedicated hardware, and the other part may be realized by software or firmware.

[0146] In addition, it is needless to say that it can be provided as a robot that has a structure for realizing the functions involved in the present disclosure in advance, and it is also possible to make an existing information processing device, etc. function as the robot involved in the present disclosure by using a program. That is, by using a CPU, etc. that controls an existing information processing device, etc., it can execute a program for realizing each functional structure of the robot 200 illustrated in the above embodiment, thereby making it function as the robot involved in the present disclosure.

[0147] In addition, the method of operating such a program is arbitrary. The program can be stored in a computer-readable storage medium such as a floppy disk, CD (Compact Disc)-ROM, DVD (Digital Versatile Disc)-ROM, memory card, etc. for operation. Furthermore, the program can be superimposed on a carrier wave and operated via a communication medium such as the Internet. For example, the program can also be announced on a bulletin board (BBS: Bulletin Board System) on a communication network for publication. Furthermore, it can also be configured to start the program and execute it in the same way as other applications under the control of an OS (Operating System), thereby performing the processing described above.

[0148] Although preferred embodiments of the present disclosure have been described above, the present disclosure is not limited to the above embodiments, and various modifications and substitutions can be made to the above embodiments without departing from the scope described in the claims.

Claims

1. A robot that moves autonomously, characterized in that: The robot comprises one or more memories and one or more control units. Wherein, the one or more memories have: a first table storing, in correspondence with each other, a growth parameter indicating the growth of the robot and data indicating behavior information specifying an action of the robot corresponding to the growth parameter; and a second table storing data representing the behavior information and data representing an action file that determines the action of the robot in correspondence with each other, The one or more control units acquire the growth parameter, and cause the robot to execute an operation corresponding to the acquired growth parameter based on the data stored in the first table and the data stored in the second table.

2. The robot according to claim 1, wherein: The first table stores a growth parameter indicating the growth of the robot, data indicating the behavior information, and data indicating the probability of selecting the behavior information in a corresponding manner. The control unit causes the robot to execute any one of a plurality of actions corresponding to the growth parameter based on the probability, based on the data stored in the first table and the second table.

3. The robot according to claim 2, wherein: The control unit obtains external stimulation, The first table further includes data indicating a trigger of an action corresponding to the external stimulus, and stores the data indicating the trigger, the growth parameter, the data indicating the behavior information, and the data indicating the probability of selecting the behavior information in correspondence with each other. The control unit operates the robot based on the trigger when the external stimulus is detected.

4. The robot according to any one of claims 1 to 3, wherein: The second table includes audio data representing the chirping sound corresponding to the behavior information. The control unit operates the robot based on the operation file corresponding to the behavior information and the voice data.

5. The robot according to any one of claims 1 to 3, wherein: The control unit sets parameters representing the virtual emotions and personality of the robot. The second table includes data indicating the amount of emotion change corresponding to the behavior information. The control unit updates an emotion parameter based on the emotion change amount corresponding to the behavior information, sets a personality parameter representing a virtual personality of the robot as the emotion parameter is updated, and sets the virtual personality of the robot based on the personality parameter.

6. The robot according to any one of claims 1 to 3, wherein: The control unit sets parameters representing the virtual emotions and personality of the robot. The first table includes data indicating the amount of emotion change corresponding to the trigger, The control unit updates an emotion parameter based on the emotion change amount corresponding to the trigger, sets a personality parameter representing a virtual personality of the robot as the emotion parameter is updated, and sets the virtual personality of the robot based on the personality parameter.

7. The robot according to claim 5, wherein: The personality parameter includes a plurality of personality values ​​each representing a degree of a different personality. The control unit sets a virtual personality of the robot based on the personality value.

8. The robot according to claim 5, wherein: The first table includes behavior information depending on the virtual personality of the robot, The control unit selects the behavior information corresponding to the character based on the set virtual character of the robot, and causes the robot to perform an action based on the selected behavior information.

9. The robot according to claim 1 or 2, wherein: The growth parameter includes data indicating the elapsed time from a reference date and time.

10. A robot control method, characterized in that: Get the parameters that represent the growth of the robot, Refer to more than one memory, Wherein, the one or more memories have: a first table storing, in correspondence with each other, a growth parameter indicating the growth of the robot and data indicating behavior information specifying an action of the robot corresponding to the growth parameter; and a second table storing data representing the behavior information and data representing an action file that determines the action of the robot in correspondence with each other, The robot is caused to perform an operation corresponding to the acquired growth parameter based on the data stored in the first table and the data stored in the second table.

11. A computer program product comprising a program for causing a computer of an autonomously operating robot to obtain parameters representing the growth of the robot, The computer of the autonomous robot has: a first table storing, in correspondence with each other, a growth parameter indicating the growth of the robot and data indicating behavior information specifying an action of the robot corresponding to the growth parameter; and a second table storing data representing the behavior information and data representing an action file that determines the action of the robot in correspondence with each other, The program causes the computer of the autonomous robot to function as the following means: A control unit causes the robot to execute an action corresponding to the acquired growth parameter based on the data stored in the first table and the data stored in the second table.

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