Robot and control program

Abstract

To achieve posture control and movement of a figure with a small number of components.SOLUTION: A figure is installed on a body. One surface of the body is provided with a plurality of rotary bodies. When the plurality of rotary bodies project further upward than the body, a control device controls the plurality of rotary bodies so as to change a posture of the figure. When the plurality of rotary bodies project further downward than the body, the control device controls the plurality of rotary bodies so as to cause the body to travel.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a robot and a control program. [Background technology]

[0002] Therapy using robots is being considered as a means of restoring human mental health. Non-Patent Document 1 discloses an autonomously mobile pet robot. However, users do not always treat robots with care. For example, robot therapy is being considered to improve the symptoms of dementia patients, but dementia patients may throw the robot or accidentally splash water on it, which increases the risk of the robot being damaged. [Prior art documents] [Non-patent literature]

[0003] [Non-Patent Document 1] Naoto Yoshida, Shuto Yonemura, Masahiro Emoto, Kanji Kawai, Naoki Numaguchi, Hiroki Nakazato, Shunsuke Otsubo, Megumi Takada and Kaname Hayashi, “Production of Character Animation in a Home Robot: A Case Study of LOVOT”, International Journal of Social Robotics (2022) 14:39-54. Summary of the Invention [Problem to be solved by the invention]

[0004] Therefore, it is possible to separate the figure that embodies the character from the drive unit that controls the figure's movement. For example, it is possible to use a drive unit attached to the base of a shock-resistant figure such as a balloon figure. This makes it possible to prevent damage to the drive unit even if an impact is applied to the part of the figure that the user recognizes as the main body.

[0005] However, providing a drive unit for controlling the posture of the figure and a drive unit for controlling the movement of the figure separately leads to a high cost of the robot and a high risk of breakdown.

[0006] An object of the present invention is to provide a robot and a control program that can realize posture control and movement of a figure with a small configuration. [Means for solving the problem]

[0007] According to one aspect of the present invention, a robot includes a main body, a plurality of rotating bodies provided on one side of the main body, a figure placed on the main body, and a control device that controls the plurality of rotating bodies, wherein the control device controls the plurality of rotating bodies to change the posture of the figure when the plurality of rotating bodies protrude above the main body, and controls the plurality of rotating bodies to move the main body when the plurality of rotating bodies protrude below the main body. Effect of the Invention

[0008] According to the above aspect, the robot can realize posture control and movement of the figure with a small configuration. In other words, by each of the multiple rotating bodies realizing both the function of posture control and movement of the figure, it is possible to realize posture control and movement of the figure without having both a drive device for posture control and a drive device for movement. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing a configuration of a robot according to a first embodiment. [Diagram 2] 1 is a schematic diagram showing an internal structure of a robot according to a first embodiment. [Diagram 3] FIG. 11 is a diagram showing the structure of a main body of the second embodiment. [Figure 4] FIG. 13 is a diagram illustrating an example of the configuration of a robot according to a third embodiment. [Diagram 5] FIG. 13 is a diagram illustrating an example of an application that collects life log data according to the third embodiment. [Figure 6] FIG. 1 is a schematic block diagram illustrating a configuration of a computer according to at least one embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] First Embodiment Robot Configuration Hereinafter, the embodiments will be described in detail with reference to the drawings. 1 is a diagram showing a configuration of a robot 1 according to a first embodiment. The robot 1 according to the first embodiment is used for communicating with a user. The robot 1 includes a figure 11 and a main body 12.

[0011] The figure 11 is an object modeled after a person or animal that embodies a character. The external shape of the figure 11 is formed of a balloon 111 made of highly elastic polymeric resin or the like. The bottom of the figure 11 is spherical. A weight 112 such as sand is placed inside the figure 11 so that the center of gravity is located at the bottom. This allows the figure 11 to automatically maintain an upright position without control.

[0012] The main body 12 is a plate-like member on which the figure 11 can be placed. Four omni wheels 122 are provided on one surface (upper or lower surface) of a base 121 forming the outer shell of the main body 12. Hereinafter, the surface on which the omni wheels 122 are provided will be referred to as the first surface, and the surface opposite to the first surface will be referred to as the second surface.

[0013] The omni wheel 122 is a wheel that realizes omnidirectional movement. The omni wheel 122 includes one driving wheel that rotates around a driving shaft, and multiple driven wheels that are provided on the outer periphery of the driving wheel and rotate around shafts extending along the tangent of the driving wheel. With such a structure, the omni wheel 122 does not resist the force applied in the direction of the driving shaft while generating grip in the rotation direction of the driving wheel. The drive shafts of the multiple omni wheels 122 face in different directions and are located on the same plane, so that the multiple omni wheels 122 can move in any direction along the plane. For example, the four omni wheels 122 are provided at equal intervals at equal distances from the center of the main body 12, and are provided so that the drive shafts of the adjacent omni wheels 122 are shifted by 90 degrees from each other when the first surface is viewed in a plan view.

[0014] The main body 12 is installed with the first surface facing upward, so that the omni wheels 122 protrude upward from the main body 12. At this time, when the figure 11 is placed on the main body 12, the figure 11 is supported by the four omni wheels 122. At this time, the main body 12 drives the omni wheels 122, so that the posture of the figure 11 can be changed. The four omni wheels 122 are provided so that each comes into contact with the spherical crown-shaped bottom of the figure 11 when the figure 11 is placed on it.

[0015] The main body 12 is installed with the first surface facing downward, so that the omni wheels 122 protrude downward from the main body 12. This allows the omni wheels 122 to come into contact with the ground. The figure 11 is placed on the second surface of the main body 12. The main body 12 drives the omni wheels 122, so that the main body 12 can be moved with the figure 11 on it.

[0016] "Figure 11 Composition" FIG. 2 is a schematic diagram showing the internal structure of the robot 1 according to the first embodiment. The figure 11 includes a balloon 111 forming an outer shell, a weight 112, a figure sensor 113, a speaker 114, a control device 115, a battery 116, and a non-contact power receiving device 117.

[0017] The figure sensor 113 measures the state of the figure 11 and the outside world. The figure sensor 113 may include, for example, a camera, a distance sensor, a microphone, an acceleration sensor, a gyro sensor, a pressure sensor, a temperature sensor, and the like. The camera is a sensor that acquires an image of the outside world of the figure 11. The distance sensor is a sensor that acquires the distance from the figure 11 to an object in the outside world. The microphone is a sensor that acquires audio data of the outside world of the figure 11. The acceleration sensor is a sensor that measures the direction of gravity of the figure 11. The gyro sensor is a sensor that measures a value related to the rotation of the figure 11. The pressure sensor is a sensor that measures the internal pressure of the balloon 111. The temperature sensor is a sensor that measures the temperature of the outside world of the figure 11.

[0018] The speaker 114 produces sound in accordance with instructions from the control device 115 . The control device 115 acquires measurement data from the figure sensor 113 and transmits the measurement data to the control device 125 by wireless communication. The control device 115 also acquires audio data to be output from the speaker 114 from the control device 125 and outputs the audio data to the speaker 114. The control devices 115 and 125 are connected to each other so as to be able to communicate with each other by short-range wireless communication (wireless LAN, Bluetooth (registered trademark), etc.).

[0019] The battery 116 supplies power to the control device 115. The battery 116 is provided with a converter and a battery management unit. When the non-contact power receiving device 117 faces the non-contact power feeding device 127 of the main body 12, the non-contact power receiving device 117 receives power from the non-contact power feeding device 127. The power received by the non-contact power feeding device 127 is charged into the battery 116.

[0020] 《Configuration of the main body 12》 The main body 12 includes a base 121 , an omniwheel 122 , a motor 123 , a main body sensor 124 , a control device 125 , a power supply unit 126 , and a non-contact power supply device 127 .

[0021] The motor 123 is provided for each omni-wheel 122, and rotates the corresponding omni-wheel 122 about a drive shaft. The motor 123 is an example of a rotating body. The main body sensor 124 measures information that can determine the up-down direction of the main body 12. The main body sensor 124 may be, for example, a camera or an acceleration sensor. If the main body sensor 124 is a camera, the up-down direction can be detected by analyzing a captured image and identifying, for example, the direction in which a floor surface is captured. If the main body sensor 124 is an acceleration sensor, the up-down direction can be detected by identifying the direction of gravity.

[0022] The control device 125 controls the driving of the motor 123 based on the data received from the control device 115 and the measurement data acquired from the body sensor 124. The control device 125 generates audio data to be output from the speaker 114 of the control device 115 and transmits it to the control device 115. The control device 125 also determines whether the first surface of the body 12 faces up or down based on the measurement data of the body sensor 124. The control device 125 determines the operation mode based on the determination result of the orientation of the first surface. The operation mode of the robot 1 may be of two types: an interaction mode and a running mode. The interaction mode is an operation mode that realizes an interaction with the action of the user by changing the posture of the figure 11 according to the behavior of the user. The running mode is an operation mode that makes the robot 1 run.

[0023] Power supply unit 126 supplies power to motor 123, control device 125, and non-contact power supply device 127. Power supply unit 126 may be a converter that receives power from an external power source, or may be a battery. When the non-contact power supplying device 127 faces the non-contact power receiving device 117 of the figure 11, it supplies power to the non-contact power receiving device 117. The non-contact power receiving device 117 and the non-contact power supplying device 127 may be configured such that one of them includes a magnet (electromagnet or ferromagnetic material) and the other includes a magnet or a paramagnetic material, and the non-contact power receiving device 117 and the non-contact power supplying device 127 attract each other when they face each other.

[0024] 《Robot 1's movement》 When the control device 125 of the main body 12 is started, it executes the following mode determination process at regular time intervals. The control device 125 of the main body 12 acquires measurement data from the main body sensor 124. The control device 125 determines whether the first surface of the main body 12 faces up or down based on the measurement data. If the control device 125 determines that the first surface faces up, it determines the operation mode of the robot 1 to be the interaction mode. If the control device 125 determines that the first surface faces down, it determines the operation mode of the robot 1 to be the running mode.

[0025] When the operation mode of the robot 1 is the running mode, the control device 125 generates an environment map of the robot 1 by SLAM calculation or the like based on the measurement data (image data, distance data, etc.) of the body sensor 124 or the figure sensor 113. The control device 125 determines a destination based on the generated environment map, generates a control signal for the motor 123 to move in the direction of the destination, and outputs it to the motor 123.

[0026] When the operation mode of the robot 1 is the interaction mode, the control device 125 estimates the posture of the figure 11 based on the measurement data (acceleration data, angular velocity data, etc.) of the figure sensor 113. The control device 125 also recognizes the user's behavior based on the measurement data (image data and voice data) of the figure sensor 113. The control device 125 generates a control signal for the motor 123 for making the figure 11 assume a desired posture based on the recognized user's behavior and the posture of the figure 11, and outputs the control signal to the motor 123. For example, the control device 125 may rotate the figure 11 so that the figure 11 faces the user's direction, or may swing the figure 11 in response to the user's behavior.

[0027] Also, the figure 11 may be lifted by a user and separated from the main body 12. The control device 125 of the main body 12 may recognize that the figure 11 and the main body 12 are separated. For example, the control device 125 may determine that the figure 11 and the main body 12 are separated when the reception strength of the radio wave used for communication with the control device 115 is smaller than a predetermined threshold. For example, the control device 125 may determine that the figure 11 and the main body 12 are separated when the power consumption of the non-contact power supply device 127 is lower than a predetermined threshold. For example, the control device 125 may determine that the figure 11 and the main body 12 are separated when the main body sensor 124 includes a weight sensor and the measured value of the weight is lower than a predetermined threshold.

[0028] When the figure 11 is away from the main body 12, the control device 125 of the main body 12 acquires the measurement data of the figure sensor 113 and identifies the posture and state of the figure 11 as long as communication with the control device 115 of the figure 11 continues. The control device 125 may acquire the measurement data of the internal pressure of the figure 11 from, for example, a pressure sensor, estimate whether the user is holding the figure 11, output a sound according to the estimation result from the speaker 114, or estimate the health condition of the user.

[0029] Thus, according to the first embodiment, the control device 125 of the main body 12 controls the omni wheels 122 to change the posture of the figure 11 when the omni wheels 122 protrude above the main body 12. On the other hand, the control device 125 of the main body 12 controls the omni wheels 122 to move the main body 12 when the omni wheels 122 protrude below the main body 12. This allows the control device 125 to switch the behavior of the robot 1 based on the posture of the main body 12. Furthermore, according to the first embodiment, the user or the user's assistant can easily switch the operation mode of the robot 1 by turning the main body 12 over.

[0030] Second embodiment In the robot 1 according to the first embodiment, the user switches the operation mode of the robot 1 by flipping over the main body 12. In contrast, the robot 1 according to the second embodiment switches the operation mode automatically.

[0031] FIG. 3 is a diagram showing the structure of the main body 12 of the second embodiment. The base 121 of the main body 12 according to the second embodiment includes a first base 131, a second base 132, and a linear actuator 133. The first base 131 constitutes the left half of the base 121. The second base 132 constitutes the right half of the base 121. The linear actuator 133 connects the first base 131 and the second base 132 at the rear surface. When the linear actuator 133 extends, the first base 131 and the second base 132 move away from each other, and when the linear actuator 133 contracts, the first base 131 and the second base 132 move closer to each other. When the linear actuator 133 connects the first base 131 and the second base 132 at the rear surface of the base 121, an opening is formed in the front surface of the base 121.

[0032] The first base 131 and the second base 132 each include a pair of roller guide rails 134. One end of the roller guide rails 134 is located at the same height as the lower surface of the base 121 and near the center of the base 121. The other end of the roller guide rails 134 is located higher than the upper surface of the base 121 and near the outer periphery of the base 121. The roller guide rails 134 may be formed in an arc shape.

[0033] The first base 131 and the second base 131 include a support member 135 that supports the omni wheel 122 and the motor 123, and a rail 136 that guides the support member 135. One end of the rail 136 is located at the height of the lower surface of the base 121. The other end of the rail 136 is located at a height higher than the upper surface of the base 121. In other words, the rail 136 extends across the upper and lower surfaces of the main body 12. The rail 136 may be formed in an arc shape. The support member 135 is provided so as to be slidable along the rail 136. When the support member 135 is located at the lower end of the rail 136, the omni wheel 122 protrudes from the lower surface of the base 121, and the drive shaft is parallel to the ground. When the support member 135 is located at the upper end of the rail 136, the omni wheel 122 protrudes from the upper surface of the base 121, and the drive shaft is parallel to the tangent to the bottom of the figure 11. The support member 135 includes a motor for moving along the rail 136. The support member 135 and the rail 136 may form, for example, a rack-and-pinion mechanism. By moving the support member 135 along the rail 136, it is possible to switch between a state in which the omni-wheel 122 protrudes from the lower surface of the base 121 and a state in which the omni-wheel 122 protrudes from the upper surface of the base 121.

[0034] The roller guide rails 134 of the first base 131 and the roller guide rails 134 of the second base 132 are arranged so as not to come into contact with each other when the linear actuator 133 is maximally contracted.

[0035] 《Robot 1's movement》 The control device 125 of the main body 12 determines whether the operation mode should be the interaction mode or the running mode based on the measurement data of the figure sensor 113. For example, the control device 125 may analyze image data captured by a camera serving as the figure sensor 113, and determine that the user has stood up, and then determine that the operation mode should be the running mode. Also, for example, the control device 125 may analyze voice data captured by a microphone serving as the figure sensor 113, and determine that the user has spoken to the robot 1, and then determine that the operation mode should be the interaction mode.

[0036] When changing the operation mode from the running mode to the interaction mode, the control device 125 drives the motors of the support members 135 while the figure 11 is placed on the base 121, and moves each support member 135 to the upper end of the rail 136. This causes the omni wheels 122 to protrude from the upper surface of the base 121, and the omni wheels 122 can come into contact with the bottom surface of the figure 11. After causing the omni wheels 122 to protrude from the upper surface of the base 121, the control device 125 controls the motors 123 based on the interaction mode.

[0037] When changing the operation mode from the interaction mode to the running mode, the control device 125 drives the motors of the support members 135 while the figure 11 is placed on the base 121, and moves each support member 135 to the upper end of the rail 136. This causes the omni wheels 122 to protrude from the lower surface of the base 121, and allows the omni wheels 122 to come into contact with the ground. After causing the omni wheels 122 to protrude from the lower surface of the base 121, the control device 125 controls the motors 123 based on the running mode.

[0038] Moreover, the control device 125 according to the second embodiment can autonomously place the figure 11 on the base 121 when the figure 11 falls off the base 121. The control device 125 detects the falling off of the figure 11 based on the measurement data of the body sensor 124. For example, when the figure 11 is captured in image data captured by the camera that is the body sensor 124, it may be recognized that the figure 11 has fallen off. When the control device 125 detects the falling off of the figure 11, it drives the motor 123 to make the front side of the base 121 (the side without the linear actuator 133) face the figure 11. Next, the control device 125 extends the linear actuator 133 to separate the first base 131 and the second base 132. Next, the control device 125 drives the motor 123 so that the base 121 approaches the figure 11. When the figure 11 is located inside the base 121, the control device 125 contracts the linear actuator 133 to bring the first base 131 and the second base 132 closer to each other. As a result, the figure 11 rides on the roller guide rails 134 of the first base 131 and the roller guide rails 134 of the second base 132, and as the first base 131 and the second base 132 approach each other, the figure 11 moves upward along the roller guide rails 134. This allows the control device 125 to autonomously place the fallen figure 11 on the base 121.

[0039] Thus, according to the second embodiment, the control device 125 of the main body 12 drives the motor of the support member 135 to move the omni wheel 122 to the upper surface side of the main body 12, and then controls the omni wheel 122 to change the posture of the figure 11. Also, the control device 125 of the main body 12 drives the motor of the support member 135 to move the omni wheel 122 to the lower surface side of the main body 12, and then controls the omni wheel 122 to run the main body 12. This allows the robot 1 to autonomously switch between posture control and movement of the figure 11.

[0040] Third embodiment FIG. 4 is a diagram showing an example of the configuration of the robot 1 according to the third embodiment. The robot 1 according to the third embodiment cooperates with a smart device 2 such as a smartphone. The smart device 2 transmits data to the control device 125 by an installed application, or by a web application provided by the control device 125 of the main body 12 or a web server (not shown). The smart device 2 may be held by the user or may be built into the figure 11.

[0041] The control device 125 acquires the user's life log data from the smart device 2. The life log data is associated with a time. The life log data may be, for example, text data (diary), data representing a mood, photo data, video data, audio data, etc.

[0042] FIG. 5 is a diagram showing an example of an application that collects life log data according to the third embodiment. For example, the smart device 2, the control device 125, or a web server (not shown) provides a diary application. The diary application displays a first screen D1 that accepts input of events and moods from a user. The diary application presents a plurality of icons representing events and moods to the user on the first screen D1, and accepts selection of an icon representing a current event and mood from the user. The diary application records the input events and moods in association with the input time. Furthermore, the diary application can transition from the first screen D1 to a second screen D2 that accepts input of details of the event as a character string, an image, or a video. The character string, image, or video input on the second screen D2 is also recorded in association with the time. The diary application displays the events and moods recorded on the first screen D1 or the second screen D2 as a diary list on the third screen D3. Furthermore, when a specific date is selected from the diary list on the third screen D3, the diary application displays a fourth screen D4 that displays the events and moods input on the date in chronological order. This allows users to look back on events and moods on past dates.

[0043] The control device 125 of the main body 12 acquires the user's life log data from the diary application. The control device 125 analyzes the life log data and generates a topic of conversation with the user based on the information extracted from the life log data. The control device 125 outputs voice data for realizing the conversation from the speaker 114, analyzes the voice data detected by the microphone included in the figure sensor 113, and recognizes the content of the user's response. The control device 125 generates conversation data with the user based on the content of the user's response and the analysis result of the life log data. This allows the robot 1 to activate the user's memory. At this time, the control device 125 does not teach past events or daily schedules, but only suggests them, thereby making the user think for himself and strengthening his cognitive ability.

[0044] Other Embodiments Although one embodiment has been described in detail above with reference to the drawings, the specific configuration is not limited to the above, and various design changes are possible. That is, in other embodiments, the order of the above-mentioned processes may be changed as appropriate. Also, some of the processes may be executed in parallel. The control device 125 according to the above-described embodiment may be configured by a single computer, or the configuration of the control device 125 may be distributed across multiple computers, and the multiple computers may cooperate with each other to function as the control device 125. For example, among the calculations of the control device 125, the process of recognizing the behavior of a user based on the measurement data of a sensor may be calculated by an external server.

[0045] The robot 1 according to the embodiment described above realizes posture control and running of the figure 11 by the omni wheels 122, but is not limited to this. For example, the robot 1 according to other embodiments may realize posture control and running by spherical tires or Mecanum wheels.

[0046] Computer Configuration FIG. 6 is a schematic block diagram illustrating a configuration of a computer according to at least one embodiment. The computer 50 comprises a processor 51, a main memory 52, a storage 53, and an interface 54. The above-mentioned control device 125 is implemented in a computer 50. The operations of the above-mentioned processing units are stored in the storage 53 in the form of a program. The processor 51 reads the program from the storage 53, loads it in the main memory 52, and executes the above-mentioned processes according to the program. The processor 51 also secures storage areas in the main memory 52 corresponding to the above-mentioned storage units according to the program. Examples of the processor 51 include a CPU (Central Processing Unit), a GPU (Graphic Processing Unit), and a microprocessor.

[0047] The program may be for realizing a part of the functions to be performed by the computer 50. For example, the program may be for realizing the functions by combining with other programs already stored in the storage or by combining with other programs implemented in other devices. In another embodiment, the computer 50 may include a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device) in addition to the above configuration or instead of the above configuration. Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, a part or all of the functions realized by the processor 51 may be realized by the integrated circuit. Such an integrated circuit is also included in an example of a processor. In another embodiment, the computer 50 may be virtualized on one or more computers.

[0048] Examples of the storage 53 include a magnetic disk, a magneto-optical disk, an optical disk, a semiconductor memory, etc. The storage 53 may be an internal medium directly connected to the bus of the computer 50, or an external medium connected to the computer 50 via the interface 54 or a communication line. In addition, when the program is distributed to the computer 50 via a communication line, the computer 50 that receives the program may load the program into the main memory 52 and execute the above-mentioned process. In at least one embodiment, the storage 53 is a non-transitory tangible storage medium.

[0049] The program may be for realizing part of the above-mentioned functions. Furthermore, the program may be a so-called difference file (difference program) that realizes the above-mentioned functions in combination with another program already stored in the storage 53. [Explanation of symbols]

[0050] 1...robot 11...figure 111...balloon 112...weight 113...figure sensor 114...speaker 115...control device 116...battery 117...non-contact power receiving device 12...main body 121...base 122...omni wheel 123...motor 124...main body sensor 125...control device 126...power supply unit 127...non-contact power supply device 131...first base 132...second base 133...linear actuator 134...roller guide rail 135...support member 136...rail 2...smart device 50...computer 51...processor 52...main memory 53...storage 54...interface

Claims

1. The main body, A plurality of rotors provided on one surface of the main body; A figure placed on the main body; A control device for controlling the plurality of rotating bodies; Equipped with The control device includes: controlling the plurality of rotating bodies so as to change the posture of the figure when the plurality of rotating bodies protrude above the main body; When the plurality of rotating bodies protrude below the main body, the plurality of rotating bodies are controlled so as to move the main body. robot.

2. The bottom of the figure is spherical, The plurality of rotating bodies abut against the bottom of the figure when protruding above the main body. The robot according to claim 1.

3. A non-contact power supply device provided in the main body; A communication device provided inside the figure; a non-contact power receiving device provided inside the figure, receiving power from the non-contact power supply device and supplying the power to the control device; The robot according to claim 1.

4. a magnet and a magnetic substance that is attracted to the magnet are provided inside the main body and the figure, respectively; When the distance between the magnet and the magnetic body is the shortest, the non-contact power supply device and the non-contact power receiving device face each other. The robot according to claim 3.

5. A sensor capable of detecting a direction of gravity of the main body is provided, The control device determines whether the plurality of rotating bodies are located above the main body based on the measurement values ​​of the sensors. The robot according to claim 1.

6. a rail extending across an upper surface and a lower surface of the main body for each of the plurality of rotating bodies; an actuator that moves the plurality of rotating bodies along the rail; Equipped with The control device includes: After driving the actuator to move the plurality of rotating bodies toward the upper surface side of the main body, the plurality of rotating bodies are controlled so as to change the posture of the figure; The actuator is driven to move the plurality of rotating bodies toward the lower surface side of the main body, and then the plurality of rotating bodies are controlled so as to move the main body. The robot according to claim 1.

7. The main body, A plurality of rotors provided on one surface of the main body; A figure placed on the main body; A computer for driving a robot comprising: controlling the plurality of rotating bodies so as to change the posture of the figure when the plurality of rotating bodies protrude above the main body; controlling the plurality of rotating bodies so as to move the main body when the plurality of rotating bodies protrude below the main body; A control program for executing the above.

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