Robot

Abstract

To provide a robot to which a human can easily become attached.SOLUTION: A robot includes: a motion control unit for selecting a motion of the robot; a drive mechanism for executing the selected motion; an operation sensing unit for sensing deformation of a robot body; and an eye generation unit for generating an eye image and causing the eye image to be displayed in a face region of the robot.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a robot that humans can easily become attached to. [Background technology]

[0002] People keep pets to find comfort. However, many people give up on having pets for various reasons, such as not having enough time to care for them, not having a living environment that allows them to keep a pet, allergies, or the pain of losing a pet. If there were a robot that could play the role of a pet, it might be able to provide the same comfort that pets provide to people who cannot keep pets (see Patent Documents 1 and 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2000-323219 [Patent Document 2] International Publication No. 2017 / 169826 Summary of the Invention [Problem to be solved by the invention]

[0004] Although robot technology has been advancing rapidly in recent years, it has not yet reached the point where it can function as a companion like a pet. This is because it is not believed that robots have free will. By observing the behavior of pets that can only be assumed to have free will, humans can sense the existence of free will in pets, empathize with them, and find comfort in them.

[0005] The inventors thought that if a robot's response could change depending on how it is touched, it might be possible to further increase people's attachment to the robot. As a result of intensive research, the inventors came up with the idea of ​​solving the above problem by installing sensors in places where people unconsciously want to touch the robot, detecting how people touch the robot, and reflecting the results in the robot's behavior.

[0006] The present invention was completed based on the above-mentioned problem recognition, and its main purpose is to provide a robot that humans can easily become attached to. [Means for solving the problem]

[0007] In one aspect of the present invention, a robot includes an operation control unit that selects a motion for the robot, a drive mechanism that executes the selected motion, an operation detection unit that detects deformation of the robot body, and an eye generation unit that generates an eye image and displays the eye image in the robot's facial area. When a deformation of the robot body is detected, the eye generation unit changes the eye image in accordance with the deformation state.

[0008] In another aspect of the present invention, a robot includes an operation control unit that selects a motion of the robot, a drive mechanism that executes the selected motion, and an operation detection unit that detects the movement of a device provided on the robot body. When a motion of the device is detected, the motion control unit selects a motion corresponding to the motion of the device from among motions that are to be driven within a predetermined range from the device.

[0009] In another aspect of the present invention, a robot includes an operation control unit that selects a motion of the robot, a drive mechanism that executes the selected motion, and first and second sensors that are installed on the surface of the robot's body and detect contact by a user. When a user's contact is detected by both or one of the first and second sensors, the operation control unit selects a motion according to the manner of contact. The detection accuracy of the first sensor is set to be higher than that of the second sensor, and the first sensor is installed in the face area of ​​the robot. [Effects of the Invention]

[0010] According to the present invention, humans are more likely to feel attached to robots. [Brief explanation of the drawings]

[0011] [Figure 1] Figure 1(a) is a front view of the robot, and Figure 1(b) is a side view of the robot. [Figure 2] FIG. 2 is a cross-sectional view schematically illustrating the structure of the robot. [Figure 3] FIG. 2 is a diagram illustrating a hardware configuration of the robot. [Figure 4] FIG. 2 is a functional block diagram of the robot system. [Figure 5] Figure 5(a) is a front external view of the robot in this embodiment, and Figure 5(b) is a side external view of the robot in this embodiment. [Figure 6] FIG. 2 is a hardware configuration diagram of the robot according to the present embodiment. [Figure 7] FIG. 1 is a functional block diagram of a robot system according to a first embodiment. [Figure 8] FIG. [Figure 9] FIG. 1 is a magnified view of an eye image. [Figure 10] FIG. 10 is a schematic diagram showing a method for generating an eye image. [Figure 11] Figure 11(a) is a diagram showing the appearance of the robot's eye when the analog stick is moved up from the initial position. Figure 11(b) is a diagram showing the appearance of the robot's eye when the analog stick is moved to the right from the initial position. Figure 11(c) is a diagram showing the appearance of the robot's eye when the analog stick is moved down from the initial position. Figure 11(d) is a diagram showing the appearance of the robot's eye when the analog stick is moved to the left from the initial position. [Figure 12] FIG. 10 is a functional block diagram of a robot system according to a second embodiment. [Figure 13] 10 is a flowchart showing eye movements and robot motions. [Figure 14] Fig. 14(a) is a diagram showing the data structure of an eye movement table, and Fig. 14(b) is a diagram showing the data structure of a deformation pattern selection table. [Figure 15] FIG. 10 is a data structure diagram of a motion selection table. [Figure 16] FIG. 2 is a front view of the robot in a stationary state. [Figure 17] FIG. 10 is a front view of the robot when a motion is activated. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. For convenience, the following description may refer to the positional relationship of each structure based on the illustrated state. In the following embodiments and their modifications, substantially identical components will be designated by the same reference numerals, and their description will be omitted where appropriate.

[0013] The robot of this embodiment reacts to the user's touching of its nose by moving its eyes and body. Before describing the implementation of the robot of this embodiment, the basic configuration of the robot will be described below.

[0014] [Basic configuration] 1(a) is a front external view of the robot 100. FIG. 1(b) is a side external view of the robot 100. The robot 100 in this embodiment is an autonomous robot that determines its behavior based on the external environment and its internal state. The external environment is recognized by various sensors such as cameras and thermosensors. The internal state is quantified as various parameters that express the emotions of the robot 100. The robot 100's range of activity is within the owner's home. Hereinafter, a human interacting with the robot 100 will be referred to as a "user."

[0015] The body 104 of the robot 100 has an overall rounded shape and includes an outer skin made of a soft, elastic material such as urethane, rubber, resin, or fiber. The robot 100 may be dressed in clothing. The total weight of the robot 100 is approximately 5 to 15 kilograms, and the height is approximately 0.5 to 1.2 meters. The appropriate weight, roundness, softness, and pleasant feel of the robot 100 make it easy for the user to hold the robot 100, and make the user want to hold it.

[0016] The robot 100 includes a pair of front wheels 102 (left wheel 102a and right wheel 102b) and one rear wheel 103. The front wheels 102 are drive wheels, and the rear wheels 103 are driven wheels. The front wheels 102 do not have a steering mechanism, but the rotation speed and direction of the front wheels 102 can be individually controlled. The rear wheels 103 are casters that are rotatable to move the robot 100 forward, backward, left, and right. The rear wheels 103 may be omniwheels.

[0017] The front wheels 102 and rear wheels 103 can be completely retracted into the body 104 by a drive mechanism (rotating mechanism, link mechanism). Even when the robot 100 is moving, most of the wheels are hidden by the body 104, but when the wheels are completely retracted into the body 104, the robot 100 becomes immobile. That is, as the wheels are retracted, the body 104 descends and sits on the floor F. In this seated state, a flat seating surface 108 (ground-contact bottom surface) formed on the bottom of the body 104 abuts on the floor F.

[0018] The robot 100 has two hands 106. The hands 106 do not have the function of grasping objects. The hands 106 are capable of simple movements such as lifting, shaking, and vibrating. The two hands 106 can also be controlled individually.

[0019] The eyes 110 can display images using liquid crystal elements or organic EL elements. The robot 100 is equipped with various sensors, such as a microphone array and ultrasonic sensors, that can identify the direction of a sound source. It also has a built-in speaker, so it can emit simple sounds.

[0020] Horns 112 are attached to the head of the robot 100. As described above, the robot 100 is lightweight, so a user can lift the robot 100 by grabbing the horns 112. A spherical camera is attached to the horns 112, and can capture an image of the entire upper area of ​​the robot 100 at once.

[0021] FIG. 2 is a cross-sectional view that schematically illustrates the structure of the robot 100. As shown in FIG. As shown in Figure 2, the body 104 of the robot 100 includes a base frame 308, a main body frame 310, a pair of resin wheel covers 312, and an outer skin 314. The base frame 308 is made of metal, and forms the axis of the body 104 and supports the internal mechanism. The base frame 308 is configured by connecting an upper plate 332 and a lower plate 334 vertically with multiple side plates 336. Sufficient gaps are provided between the multiple side plates 336 to allow ventilation. The battery 118, a control circuit 342, and various actuators are housed inside the base frame 308.

[0022] The main body frame 310 is made of a resin material and includes a head frame 316 and a torso frame 318. The head frame 316 is hollow and hemispherical, forming the head skeleton of the robot 100. The torso frame 318 is stepped and cylindrical, forming the torso skeleton of the robot 100. The torso frame 318 is fixed integrally with the base frame 308. The head frame 316 is attached to the upper end of the torso frame 318 so as to be relatively displaceable.

[0023] The head frame 316 is provided with three axes: a yaw axis 320, a pitch axis 322, and a roll axis 324, and an actuator 326 for driving the rotation of each axis. The actuator 326 includes multiple servo motors for individually driving each axis. The yaw axis 320 is driven for swinging the head, the pitch axis 322 is driven for nodding, and the roll axis 324 is driven for tilting the head.

[0024] A plate 325 that supports the yaw axis 320 is fixed to the top of the head frame 316. A plurality of ventilation holes 327 are formed in the plate 325 to ensure ventilation between the top and bottom.

[0025] A metal base plate 328 is provided to support the head frame 316 and its internal mechanism from below. The base plate 328 is connected to the plate 325 via a cross link mechanism 329 (pantograph mechanism), and is also connected to an upper plate 332 (base frame 308) via a joint 330.

[0026] The trunk frame 318 houses the base frame 308 and the wheel drive mechanism 370. The wheel drive mechanism 370 includes a rotating shaft 378 and an actuator 379. The lower half of the trunk frame 318 is narrow to form a storage space S for the front wheel 102 between it and the wheel cover 312.

[0027] The outer cover 314 is made of urethane rubber and covers the main body frame 310 and the wheel cover 312 from the outside. The handle 106 is molded integrally with the outer cover 314. An opening 390 is provided at the upper end of the outer cover 314 to introduce outside air.

[0028] FIG. 3 is a diagram showing the hardware configuration of the robot 100. The robot 100 includes an internal sensor 128, a communication device 126, a memory device 124, a processor 122, a drive mechanism 120, and a battery 118. The processor 122 and the memory device 124 are included in a control circuit 342. Each unit is connected to each other by a power line 130 and a signal line 132. The battery 118 supplies power to each unit via the power line 130. Each unit transmits and receives control signals via the signal line 132. The battery 118 is a lithium The battery is an ammonium ion secondary battery and is the power source for the robot 100.

[0029] The internal sensor 128 is a collection of various sensors built into the robot 100. Specifically, these include a camera (spherical camera), a microphone array, a distance sensor (infrared sensor), a thermosensor, a touch sensor, an acceleration sensor, and an odor sensor. The touch sensor is installed between the outer skin 314 and the main body frame 310 and detects the user's touch. The odor sensor is a known sensor that applies the principle that electrical resistance changes due to the adsorption of odor-causing molecules.

[0030] The communicator 126 is a communication module that performs wireless communication with various external devices. The storage device 124 is composed of non-volatile memory and volatile memory, and stores computer programs and various setting information. The processor 122 is a means for executing computer programs. The drive mechanism 120 includes multiple actuators and the wheel drive mechanism 370 described above. In addition, a display, a speaker, etc. are also installed.

[0031] The drive mechanism 120 mainly controls the wheels (front wheels 102) and the head (head frame 316). The drive mechanism 120 not only changes the direction and speed of movement of the robot 100, but also raises and lowers the wheels (front wheels 102 and rear wheels 103). When the wheels are raised, they are completely retracted into the body 104, and the robot 100 comes into contact with the floor F at the seating surface 108, thereby entering a seated state. The drive mechanism 120 also controls the hands 106 via wires 134.

[0032] FIG. 4 is a functional block diagram of the robot system 300. The robot system 300 includes a robot 100, a server 200, and multiple external sensors 114. Each component of the robot 100 and the server 200 is realized by hardware including computing units such as a CPU (Central Processing Unit) and various coprocessors, storage devices such as memory and storage, and wired or wireless communication lines connecting them, as well as software stored in the storage devices that supplies processing instructions to the computing units. The computer program may be composed of device drivers, an operating system, various application programs located at higher layers than these, and libraries that provide common functions to these programs. Each block described below represents a functional block rather than a hardware configuration. Some of the functions of the robot 100 may be implemented by the server 200, or some or all of the functions of the server 200 may be implemented by the robot 100.

[0033] A plurality of external sensors 114 are installed inside the house in advance. The position coordinates of the external sensors 114 are registered in the server 200. The server 200 determines the basic behavior of the robot 100 based on information obtained from the internal sensor 128 of the robot 100 and the plurality of external sensors 114. The external sensors 114 are intended to reinforce the sensory organs of the robot 100, and the server 200 is intended to reinforce the brain of the robot 100. The communicator 126 of the robot 100 periodically communicates with the external sensors 114, and the server 200 identifies the position of the robot 100 using the external sensors 114 (see also Patent Document 2).

[0034] (Server 200) The server 200 includes a communication unit 204 , a data processing unit 202 , and a data storage unit 206 . The communication unit 204 is responsible for communication processing with the external sensor 114 and the robot 100. The data storage unit 206 stores various data. The data processing unit 202 executes various processes based on the data acquired by the communication unit 204 and the data stored in the data storage unit 206. The data processing unit 202 is an interface between the communication unit 204 and the data storage unit 206. It also functions as a

[0035] The data store 206 includes a motion store 232 and a personal data store 218 . The robot 100 has a plurality of transformation patterns (motions). Various motions are defined, such as shaking the hands 106, meandering towards the owner, and tilting the head while gazing at the owner.

[0036] The motion storage unit 232 stores "motion files" that define the control content of a motion. Each motion is identified by a motion ID. The motion files are also downloaded to the motion storage unit 160 of the robot 100. The motion to be executed may be determined by the server 200 or by the robot 100.

[0037] Many of the motions of the robot 100 are configured as composite motions including multiple unit motions. For example, when the robot 100 approaches the owner, it may be expressed as a combination of a unit motion of turning toward the owner, a unit motion of approaching while raising hands, a unit motion of approaching while shaking the body, and a unit motion of sitting down while raising both hands. A combination of these four motions realizes the motion of "approaching the owner, raising hands halfway, and finally sitting down after shaking the body." The motion file defines the rotation angles and angular velocities of the actuators provided in the robot 100 in relation to a time axis. Various motions are expressed by controlling each actuator over time according to the motion file (actuator control information).

[0038] The transition time from one unit motion to the next is called an "interval." The interval can be defined according to the time required to change the unit motion and the content of the motion. The length of the interval can be adjusted. Hereinafter, settings related to the behavior control of the robot 100, such as when and which motion to select, and adjustment of the output of each actuator to realize the motion, will be collectively referred to as "behavioral characteristics." The behavioral characteristics of the robot 100 are defined by a motion selection algorithm, a motion selection probability, a motion file, etc.

[0039] The motion storage unit 232 stores motion files as well as a motion selection table that defines the motions to be executed when various events occur. In the motion selection table, one or more motions and their selection probabilities are associated with each event.

[0040] The personal data storage unit 218 stores user information. Specifically, it stores master information indicating the degree of intimacy with the user and the user's physical and behavioral characteristics. Other attribute information such as age and gender may also be stored.

[0041] The robot 100 has an internal parameter called intimacy for each user. When the robot 100 recognizes that the user has shown affection for the robot 100, such as picking the robot up or talking to the robot, the robot 100's intimacy with the user increases. The robot 100's intimacy with users who do not interact with the robot 100, users who are violent, and users the robot 100 encounters infrequently decreases.

[0042] The data processing unit 202 includes a position management unit 208 , a recognition unit 212 , a movement control unit 222 , an intimacy management unit 220 , and a state management unit 244 . The position management unit 208 identifies the position coordinates of the robot 100. The state management unit 244 manages various internal parameters such as the charge rate, the internal temperature, the processing load of the processor 122, and various physical states. The state management unit 244 also manages various emotional parameters that indicate the emotions of the robot 100 (loneliness, curiosity, desire for recognition, etc.). These emotional parameters are constantly fluctuating. The movement destination of the robot 100 changes depending on the emotional parameters. For example, when the robot 100 is feeling increasingly lonely, it sets the location of the user as the movement destination.

[0043] Emotional parameters change over time. They also change depending on interactions, as described below. For example, if the owner "holds" the pet, the emotional parameter indicating loneliness will decrease, and if the pet does not see the owner for a long period of time, the emotional parameter indicating loneliness will gradually increase.

[0044] The recognition unit 212 recognizes the external environment. Recognition of the external environment includes various recognitions such as recognition of weather and season based on temperature and humidity, and recognition of shade (safe zone) based on the amount of light and temperature. The recognition unit 156 of the robot 100 acquires various environmental information using the internal sensor 128, performs initial processing on it, and then transfers it to the recognition unit 212 of the server 200.

[0045] Specifically, the recognition unit 156 of the robot 100 extracts an image region corresponding to a moving object, particularly a person or an animal, from the image, and extracts a "feature vector" from the extracted image region as a set of feature quantities indicating the physical and behavioral characteristics of the moving object. Feature vector components (feature quantities) are numerical values ​​that quantify various physical and behavioral characteristics. For example, the width of a human eye is quantified in the range of 0 to 1, forming one feature vector component. A method for extracting a feature vector from a captured image of a person is an application of known face recognition technology. The robot 100 transmits the feature vector to the server 200.

[0046] The recognition unit 212 of the server 200 compares the feature vector extracted from the image captured by the built-in camera of the robot 100 with the feature vectors of users (clusters) pre-registered in the personal data storage unit 218 to determine which person the captured user corresponds to (user identification process). The recognition unit 212 also estimates the user's emotions by performing image recognition of the user's facial expression. The recognition unit 212 also performs user identification process on moving objects other than people, such as pet cats and dogs.

[0047] The recognition unit 212 recognizes various responsive actions made to the robot 100 and classifies them into pleasant and unpleasant actions. The recognition unit 212 also recognizes the owner's responsive actions to the behavior of the robot 100 and classifies them into positive and negative reactions. Pleasant / unpleasant behavior is determined based on whether the user's behavior is pleasant or unpleasant for the living organism. For example, being held is a pleasant behavior for the robot 100, and being kicked is an unpleasant behavior for the robot 100. Positive / negative reactions are determined based on whether the user's behavior indicates a pleasant emotion or an unpleasant emotion for the user. Being held is a positive reaction that indicates a pleasant emotion for the user, and being kicked is a negative reaction that indicates an unpleasant emotion for the user.

[0048] The movement control unit 222 of the server 200 cooperates with the movement control unit 150 of the robot 100 to determine the motion of the robot 100. The movement control unit 222 of the server 200 creates a movement destination point and a movement route for the robot 100. The movement control unit 222 may create multiple movement routes and then select one of the movement routes.

[0049] The motion control unit 222 selects a motion for the robot 100 from a plurality of motions stored in the motion storage unit 232. A selection probability is associated with each motion depending on the situation. For example, when the owner performs a pleasant action, motion A is executed with a probability of 20%, and when the temperature reaches 30 degrees or higher, motion B is executed with a probability of 5%. A selection method is defined.

[0050] The intimacy management unit 220 manages the intimacy level for each user. As described above, the intimacy level is registered as part of personal data in the personal data storage unit 218. When a pleasant behavior is detected, the intimacy management unit 220 increases the intimacy level with the owner. When an unpleasant behavior is detected, the intimacy level decreases. Furthermore, the intimacy level of an owner who has not been viewed for a long period of time gradually decreases.

[0051] (Robot 100) The robot 100 includes a communication unit 142 , a data processing unit 136 , a data storage unit 148 , internal sensors 128 and a drive mechanism 120 . The communication unit 142 corresponds to the communication device 126 (see FIG. 4) and is responsible for communication processing with the external sensor 114, the server 200, and other robots 100. The data storage unit 148 stores various data. The data storage unit 148 corresponds to the storage device 124 (see FIG. 4). The data processing unit 136 performs various processes based on the data acquired by the communication unit 142 and the data stored in the data storage unit 148. The data processing unit 136 corresponds to the processor 122 and the computer program executed by the processor 122. The data processing unit 136 also functions as an interface between the communication unit 142, the internal sensor 128, the drive mechanism 120, and the data storage unit 148.

[0052] The data store 148 includes a motion store 160 that defines various motions of the robot 100 . Various motion files are downloaded from the motion storage unit 232 of the server 200 to the motion storage unit 160 of the robot 100. Motions are identified by motion IDs. To express various motions such as sitting down with the front wheels 102 retracted, lifting the hands 106, rotating the two front wheels 102 in opposite directions or by rotating only one of the front wheels 102 to make the robot 100 turn, rotating the front wheels 102 while the front wheels 102 are retracted to make the robot 100 tremble, and stopping and looking back when moving away from the user, the operation timing, operation duration, operation direction, etc. of the various actuators (drive mechanisms 120) are defined in chronological order in the motion files. Various data may also be downloaded to the data storage unit 148 from the personal data storage unit 218 .

[0053] The data processing unit 136 includes a recognition unit 156 and an operation control unit 150 . The movement control unit 150 of the robot 100 decides the motions of the robot 100 in cooperation with the movement control unit 222 of the server 200. Some motions may be decided by the server 200, and other motions may be decided by the robot 100. Alternatively, the robot 100 may decide the motions, but when the processing load of the robot 100 is high, the server 200 may decide the motions. The server 200 may decide base motions, and the robot 100 may decide additional motions. How the motion decision process is shared between the server 200 and the robot 100 may be designed according to the specifications of the robot system 300.

[0054] The motion control unit 150 of the robot 100 instructs the driving mechanism 120 to execute the selected motion. The driving mechanism 120 controls each actuator in accordance with the motion file.

[0055] When a user with a high degree of intimacy is nearby, the motion control unit 150 can execute a motion of lifting both hands 106 as a gesture of asking for a hug, and when the user gets tired of the hug ... The driving mechanism 120 drives the front wheels 102, hands 106, and neck (head frame 316) in accordance with instructions from the motion control unit 150, thereby causing the robot 100 to express various motions.

[0056] The recognition unit 156 of the robot 100 interprets external information obtained from the internal sensors 128. The recognition unit 156 is capable of visual recognition (visual unit), smell recognition (olfactory unit), sound recognition (auditory unit), and tactile recognition (tactile unit).

[0057] The recognition unit 156 extracts a feature vector from a captured image of a moving object. As described above, the feature vector is a set of parameters (feature amounts) that indicate the physical and behavioral characteristics of a moving object. When a moving object is detected, the physical and behavioral characteristics are also extracted from an odor sensor, a built-in sound collecting microphone, a temperature sensor, and the like. These characteristics are also quantified to become feature vector components. The recognition unit 156 identifies the user from the feature vector based on known technology described in Patent Document 2, etc.

[0058] In the series of recognition processes including detection, analysis, and judgment, the recognition unit 156 of the robot 100 selects and extracts information necessary for recognition, and interpretation processes such as judgment are performed by the recognition unit 212 of the server 200. The recognition process may be performed by only the recognition unit 212 of the server 200, or by only the recognition unit 156 of the robot 100, or the recognition process may be performed by both the recognition unit 212 of the server 200 and the recognition unit 156 of the robot 100, with both units sharing roles as described above.

[0059] When a strong impact is applied to the robot 100, the recognition unit 156 recognizes this using a touch sensor and an acceleration sensor, and the recognition unit 212 of the server 200 recognizes this as a "violent act" by a nearby user. When a user grabs the horns 112 and lifts the robot 100, this may also be recognized as a violent act. When a user facing the robot 100 speaks in a specific volume range and a specific frequency band, the recognition unit 212 of the server 200 may recognize that a "calling act" has been made to the robot 100. Furthermore, when a temperature equivalent to body temperature is detected, the recognition unit 212 recognizes that a "contact act" has been made by the user, and when upward acceleration is detected after contact is recognized, the recognition unit 212 recognizes that a "hug" has been made. Physical contact when the user lifts the body 104 may be sensed, or a hug may be recognized by a decrease in the load on the front wheels 102. In summary, the robot 100 acquires the user's actions as physical information using the internal sensor 128, and the recognition unit 212 of the server 200 judges whether the user feels comfortable or uncomfortable. The recognition unit 212 of the server 200 also performs user identification processing based on the feature vector.

[0060] The recognition unit 212 of the server 200 recognizes various responses of the user to the robot 100. Some typical responses among the various responses are associated with pleasant or unpleasant, positive or negative. Generally, most pleasant responses are positive reactions, and most unpleasant responses are negative reactions. Pleasant and unpleasant actions are related to the degree of intimacy, and positive and negative reactions affect the robot 100's behavior selection.

[0061] The intimacy management unit 220 of the server 200 changes the intimacy level with respect to the user in accordance with the interaction behavior recognized by the recognition unit 156. In principle, the intimacy level with respect to a user who has performed a pleasant behavior increases, and the intimacy level with respect to a user who has performed an unpleasant behavior decreases.

[0062] Based on the above basic configuration, the implementation of the robot 100 in this embodiment will be described next, focusing in particular on the features and purpose of this implementation and differences from the basic configuration. The description will be divided into a first embodiment and a second embodiment. When the first embodiment and the second embodiment are described together or when no particular distinction is made, they will be referred to as "this embodiment."

[0063] [First embodiment] Fig. 5(a) is a front external view of the robot 100 in the first embodiment, and Fig. 5(b) is a side external view of the robot 100 in the first embodiment. The robot 100 in the first embodiment is provided with a face region 107. In addition to eyes 110, a nose 109 is provided within the face region 107. The nose 109 is provided near the center of the face region 107 and at a lower position than the eyes 110. The nose 109 is provided between the left and right eyes, and the distance from the right eye to the nose 109 is equal to the distance from the left eye to the nose 109. Furthermore, the nose 109 is smaller than the eyes 110 and the face region 107. The nose 109 is provided with a physical device (hereinafter, sometimes referred to as a "protrusion" or "protrusion") that can be deformed by the user.

[0064] In this embodiment, an analog stick is provided on the nose 109. The user can tilt the analog stick (nose 109) in all directions, including up, down, left, and right, and can also press it. In this embodiment, tilting and pressing a physical device such as an analog stick corresponds to "deformation of the robot body." The analog stick includes a sensor (hereinafter referred to as a "nose sensor") for detecting touch. Techniques for detecting the analog stick itself and a method for detecting deformation of the analog stick are known, for example, from Japanese Patent Application Laid-Open No. 9-134251.

[0065] FIG. 6 is a diagram showing the hardware configuration of the robot 100 according to the first embodiment. The robot 100 in the first embodiment includes a monitor 170 and an analog stick 180 in addition to the basic configuration shown in Fig. 3. The monitor 170 is installed in the eye 110 of the robot 100 and displays an eye image (described in detail later).

[0066] FIG. 7 is a functional block diagram of a robot system 300 according to the first embodiment. As described above, the robot 100 includes the monitor 170 and the analog stick 180. The data processing unit 136 of the robot 100 in the first embodiment further includes an operation detection unit 182, an operation history management unit 184, and an eye generation unit 172. The operation detection unit 182 sequentially detects the movement of the analog stick 180, that is, the tilt direction, tilt angle (angle from the initial position), and amount of depression. The tilt direction in the first embodiment is sometimes referred to as the "deformation direction," and the tilt angle and amount of depression are sometimes collectively referred to as the "deformation amount."

[0067] The operation history management unit 184 stores the detection results of the operation detection unit 182 in chronological order as an operation history. The operation history also includes the duration (deformation duration) of the deformed state of the analog stick 180 (the state in which the analog stick 180 is moved from its initial position). The operation history management unit 184 also calculates the deformation speed as the amount of deformation per unit time. The degree of "deformation of the robot main body" in this embodiment, such as the deformation direction, deformation amount, and deformation speed, is collectively referred to as the "deformation mode." The eye generation unit 172 generates an eye image to be displayed on the eye 110 (monitor 170).

[0068] The eye generation unit 172 changes the eye image displayed on the monitor 170 by outputting a signal to the monitor 170 according to the deformation state of the analog stick 180. The movement control unit 150 also selects a motion according to the deformation state of the analog stick 180. Hereinafter, the change of the eye image by the eye generation unit 172 may be referred to as "the robot 100 moves its eyes" or "the eyes of the robot 100 change." Furthermore, the selection of a motion by the movement control unit 150 and the execution of the selected motion by the drive mechanism 120 may be referred to as "the robot 100 moves." Furthermore, when "the robot 100 moves," if the motion is to move a specific part X, it may be referred to as "the robot 100 moves X." For example, when the movement control unit 150 selects a motion to move the hand of the robot 100 and the drive mechanism 120 executes that motion, it may be referred to as "the robot 100 moves its hand." When the user manipulates the nose 109 (analog stick 180), the robot 100 moves its eyes, and when the user continues to manipulate the nose 109, the robot 100 starts to move not only its eyes but also its body, such as its neck and hands. In this embodiment, "motion" means that the robot 100 physically moves its body, and changes in the eye image are not included in "motion." Below, changes in the image and motion on the monitor 170 when the analog stick 180 is moved will be described in detail.

[0069] FIG. 8 is a diagram showing the appearance of the eye image 171. The eye generation unit 172 generates an eye image 171 including an pupil image 175 and a peripheral image 176. The eye generation unit 172 displays the eye image 171 as a moving image. Specifically, the pupil image 175 is moved to represent a change in the line of sight of the robot 100.

[0070] Pupil image 175 includes pupil region 177 and cornea region 178. Catchlight 179 for expressing the reflection of external light is also displayed on pupil image 175. Catchlight 179 in eye image 171 is not shining due to the reflection of external light, but is an image region expressed as a high-brightness region by eye generation unit 172.

[0071] The eye generation unit 172 moves the pupil image 175 up, down, left, and right. When the recognition unit 156 of the robot 100 recognizes a user, the eye generation unit 172 points the pupil image 175 in the direction of the user. The eye generation unit 172 expresses a change in the virtual line of sight of the robot 100 (hereinafter, sometimes referred to as the "virtual line of sight") by changing the pupil image 175 of the eye image 171. Details of the control of the eye image 171 will be described later with reference to FIG. 10.

[0072] The eye generation unit 172 may change the shape of the pupil image 175. For example, the shape of the pupil image 175 may be a perfect circle when the pupil image 175 is at the center of the monitor 170, and may be changed to an ellipse when the pupil image 175 is at the periphery. By changing the shape of the pupil image 175 depending on the position within the monitor 170, the flat monitor 170 can be made to appear as if it has a curved shape like an actual eyeball.

[0073] The eye generation unit 172 changes the position of the catch light 179 depending on the direction of the external light source. Fig. 8 shows the display position of the catch light 179 when the external light source is located to the upper left as viewed from the robot 100. By linking the position of the catch light 179 to the external light source, a more realistic eye image 171 can be displayed. The eye generation unit 172 may determine the direction of the external light source by image recognition from a captured image, or may determine it from detection data from a light sensor (not shown).

[0074] FIG. 9 is an enlarged view of the eye image 171. In the eye image 171, an eyelid image 190 showing the eyelid is superimposed on the pupil image 175 and the peripheral image 176. The eyelid image 190 includes eyelashes 192. The peripheral image 176 is the part that corresponds to the human conjunctiva.

[0075] The eye generation unit 172 changes the eyelid image 190, pupil region 177, cornea region 178, and catchlight 179 of the eye image 171. As the amount of light increases, the eye generation unit 172 intermittently or continuously enlarges the diameter of the pupil region 177. The eye generation unit 172 may intermittently or continuously enlarge or reduce not only the pupil region 177 but also the entire pupil image 175. When the amount of light is particularly high (for example, when it is greater than a predetermined threshold), the eye generation unit 172 may express a "dazzling appearance" by lowering the eyelid image 190.

[0076] FIG. 10 is a schematic diagram showing a method for generating an eye image 171. Eyeball Model 250 is a three-dimensional computer graphic model of the eyeball of Robot 100. The eye generation unit 172 first forms a three-dimensional sphere using polygons, and then forms an eyeball model 250 by applying a texture (hereinafter referred to as "eyeball texture") to the sphere. The eyeball texture is an image that includes an pupil image 175. The eyeball texture is stored in an eye image storage unit (not shown) included in the data storage unit 148.

[0077] A first plane 252 and a second plane 254 are set in front of the eyeball model 250. The first plane 252 and the second plane 254 are virtual planes corresponding to the display surface of the monitor 170 of the eye 110. The eye generation unit 172 generates a two-dimensional eyeball projection image 256 from the three-dimensional eyeball model 250 by projecting the eyeball model 250 onto the first plane 252.

[0078] The eye generation unit 172 displays an eyelid image 190 on the second surface 254. The eye image 171 shown in FIG. 8 and other figures is generated by superimposing the eyeball projection image 256 on the first surface 252 and the eyelid image 190 on the second surface 254. The eye generation unit 172 generates two eyeball models 250, one for the right eye and one for the left eye, and generates an eye image 171 for each. Hereinafter, the first surface 252 and the second surface 254 will be collectively referred to as the "eyeball surface 258."

[0079] The eye generation unit 172 changes the eyeball projection image 256 by rotating the eyeball model 250. This method generates a three-dimensional eyeball model 250 and projects it onto the first surface 252 while rotating it, so it is possible to express the movement of the robot 100's line of sight more smoothly than if the eye image 171 were directly drawn on the first surface 252. Even though the eye image 171 is two-dimensional, because it is generated and controlled based on the three-dimensional eyeball model 250, this method makes it easier to express the complex movements that are unique to the eyeballs of living creatures.

[0080] The eye generation unit 172 displays the eyelid image 190 on the second screen 254, which is different from the first screen 252, thereby superimposing the eyelid image 190 on the eyeball projection image 256. When a human being is clapped in front of their eyes, they reflexively close their eyes. To implement such a conditioned eye reflex in the robot 100, the eyelid image 190 needs to be changed at high speed. In this embodiment, image processing of the first screen 252 and image processing of the second screen 254 are independent. When expressing a closed eye, the eye generation unit 172 only needs to perform image control on the second screen 254. When blinking, the eye generation unit 172 also only needs to perform image processing on the second screen 254. Because the eyeball model 250 (eyeball projection image 256) and the eyelid image 190 can be controlled separately, the eyelid image 190 can be controlled at high speed. With this configuration, the eye generation unit 172 can dynamically generate the eye image 171.

[0081] The robot 100 moves its eyes in conjunction with the movement of the analog stick 180. Appearances of the eyes of the robot 100 are shown in Figures 11(a), 11(b), 11(c), and 11(d).

[0082] FIG. 11( a ) is a diagram showing the appearance of the eye of the robot 100 when the analog stick 180 is moved upward from the initial position 188 . FIG. 11(b) is a diagram showing the appearance of the eye of the robot 100 when the analog stick 180 is moved to the right from the initial position 188. FIG. 11( c ) is a diagram showing the appearance of the eye of the robot 100 when the analog stick 180 is moved downward from the initial position 188 . FIG. 11(d) is a diagram showing the appearance of the eyes of the robot 100 when the analog stick 180 is moved to the left from the initial position 188.

[0083] When the user moves the analog stick 180, the operation detection unit 182 detects the amount and direction of deformation (tilt angle and tilt direction) of the analog stick 180. The eye generation unit 172 calculates the amount and direction of rotation of the eyeball model 250 based on the detection result, and generates the eyeball model 250. Specifically, the same direction as the tilt direction of the analog stick 180 is set as the rotation direction, and the eyeball model 250 is rotated by an amount of rotation proportional to the tilt angle. The eye generation unit 172 projects the eyeball model 250 onto the first surface 252. By such control, the eye image 171 of the robot 100 moves so as to direct its gaze in the tilt direction of the analog stick 180. The user can change the line of sight of the robot 100 by moving the analog stick 180.

[0084] As shown in Figure 11(a), when the analog stick 180 is tilted upward, the robot 100 also looks up. As shown in Figure 11(b), when the analog stick 180 is tilted to the right, the robot 100 looks to the right. When the analog stick 180 is tilted downward, the robot 100 looks down (Figure 11(c)), and when tilted to the left, the robot 100 looks to the left (Figure 11(d)). The same is true for directions other than up, down, left, and right.

[0085] By using the eyeball model 250, the eye image 171 can be made to quickly follow the movement of the analog stick 180. When the user manipulates the nose 109 (analog stick 180), the robot 100 moves its eyes immediately, allowing the user to experience a quick reaction from the robot 100.

[0086] When the nose 109 of the robot 100 is touched, the robot 100 may move not only its eyes but also its body (at least one of its head, hands, and wheels). If the robot 100 reacts by quickly moving its head or body when the analog stick 180 is moved quickly, the robot 100 can express a biological behavioral characteristic known as "reflexive behavior."

[0087] For example, when the user tilts the analog stick 180 to the right by 30 degrees or more within 0.1 seconds, the robot 100 may turn its head to the right. According to this control method, by quickly and greatly tilting the nose 109 (analog stick 180), the robot 100 can express the movement of moving not only its eyes but also its head.

[0088] The robot 100 not only synchronizes its eyes with the movement of the nose 109, but also moves its body depending on the movement of the nose 109, thereby showing a variety of reactions to the manipulation of the nose 109. Other movements of the nose 109 that trigger the robot 100 to move its body may also be the user flicking the analog stick 180 upward or rapidly moving the analog stick 180 left and right. A "sudden movement" may be defined as when the deformation speed of the analog stick 180 exceeds a predetermined reference value, and the motion control unit 150 may select one of a plurality of motions when the analog stick 180 moves suddenly. These motions may be any motion that expresses a reflex action performed by a living creature, such as rotating the head in the opposite direction to the movement of the nose 109 or jumping backward by driving the wheels.

[0089] In summary, when the nose 109 (analog stick 180) is moved, the eye generation unit 172 rotates the eyeball model 250 in accordance with the movement of the analog stick 180, thereby changing the eye image 171. Therefore, the line of sight of the robot 100 can be moved in accordance with the movement of the nose 109. In other words, a user interface is realized in which the nose 109 acts as an eye operation device. Furthermore, when the movement of the nose 109 satisfies a predetermined condition, the operation control unit 150 selects a motion in accordance with the movement of the nose 109. Therefore, depending on how the nose 109 is moved, the robot 100 can respond to the user's interaction not only with the eye image 171 but also with the movement of the entire body.

[0090] The motion control unit 150 may execute a motion that follows the movement of the nose 109. In this way, the eye generation unit 172 may change the eye image 171 in accordance with the movement of the analog stick 180. In addition, the motion control unit 150 may change the eye image 171 in accordance with the movement of the analog stick 180. The motion may be changed, thereby giving the user the impression that the operation direction of the analog stick 180 is linked to the change in the eye image 171 or the motion.

[0091] As described in relation to FIGS. 5(a) and 5(b), the nose 109 is smaller than the eyes 110 and the facial region 107. It is necessary to reliably detect the user's contact with any part of the nose 109. Therefore, it is necessary to provide sensors over the entire area or most of the nose 109. When providing sensors of the same size for the robot 100, fewer sensors are required for the nose 109, which is smaller than the facial region 107. Therefore, the cost of manufacturing the robot 100 can be reduced.

[0092] Furthermore, despite its small size, the nose 109 is easily noticeable to the user. This is mainly because it is located near the center of the face area 107 and has a convex shape relative to the surface of the robot 100. By providing the analog stick 180 (operation device) on the nose 109, which is easily noticeable to the user, the user can easily recognize the operable parts of the robot 100 (parts that detect user contact).

[0093] The eye image 171 may be changed based on an internal parameter of the robot 100, such as an emotion parameter. For example, when the value of the emotion parameter indicating the degree of irritation of the robot 100 is equal to or greater than a predetermined value, the eye generation unit 172 may rotate the eyeball model 250 in the direction opposite to the tilt direction of the analog stick 180.

[0094] A conversion function may be prepared that defines, as variables, the deformation mode (deformation direction, deformation amount, deformation speed) of the analog stick 180 and, as outputs, the rotation direction and rotation amount of the eyeball model 250. The eye generation unit 172 may determine the rotation direction and rotation amount of the eyeball model 250 based on the deformation mode of the analog stick 180 and the conversion function.

[0095] The eye generation unit 172 may select one of a plurality of types of conversion functions based on the emotion parameters. The eye generation unit 172 may randomly select one of a plurality of types of conversion functions. This control method can provide diversity to the eye movements while maintaining the linkage between the deformation of the analog stick 180 and the eye movements. The robot 100 responds with a variety of eye movements to the same manner of manipulation, so the user can enjoy the various expressions of the robot 100. It is also possible to estimate the emotion of the robot 100 based on the eye movements.

[0096] The robot 100 changes its motion according to the operation history of the analog stick 180. As described above, the operation detection unit 182 sequentially detects the movement of the analog stick 180, i.e., the direction and amount of deformation. The operation history management unit 184 stores the detection results in chronological order as an operation history. Specifically, the operation history management unit 184 stores the detection results in association with the detection times. The action control unit 150 selects a motion according to the operation history, i.e., the movement of the analog stick 180.

[0097] The state management unit 244 may change the emotion parameter depending on how the analog stick 180 is manipulated (operated). For example, if the user manipulates the analog stick 180 gently, the eye generation unit 172 starts to move the eyes in conjunction with the manipulation. If the manipulation continues in the same manner, the state management unit 244 increases the emotion parameter indicating a sense of security. When the emotion parameter indicating a sense of security reaches a predetermined value or above, the eye generation unit 172 lowers the eyelid image 190 (closes the eyes) to express the drowsiness of the robot 100. At this time, the operation control unit 150 may express the appearance of "dozing off" by selecting a motion that moves the head up and down. A gentle manipulation, in other words, an analyst who makes the robot 100 feel at ease, The designer may arbitrarily define how to manipulate the analog stick 180. For example, the analog stick 180 may be moved back and forth from side to side at a substantially constant pace, or the analog stick 180 may be held stationary and the nose sensor may be tapped a predetermined number of times or more with a strength that does not cause the analog stick 180 to be pressed in.

[0098] If the user continues to mess with the analog stick 180, the robot 100 starts to move its eyes in response to the mess. If the mess continues, the emotion parameter indicating irritation increases and the robot 100 stops moving its eyes. The robot 100 also moves its head from side to side, trying to remove the user's fingertips from the analog stick 180, expressing "no, no." The "messy way of messing" can also be defined arbitrarily by the designer.

[0099] In one embodiment, a state of being gently manipulated is a state of monotonous movement. Expressed in terms of the output values ​​from the analog stick 180, monotonous movement is a state in which the output values ​​are periodic and a state in which a small amount of deformation continues for a predetermined period of time. In one embodiment, a state of being roughly manipulated is a state in which a non-monotonous movement is performed. Expressed in terms of the output values ​​from the analog stick 180, it is a state in which the output values ​​are not periodic and a state in which a large amount of deformation continues for a predetermined period of time. In this way, the robot 100 not only continues to move its eyes in conjunction with the movement of the analog stick 180, but also changes the way in which the analog stick 180 and its eyes are linked when a predetermined condition is met. The robot 100 expresses a "sleepy" state by closing its eyelids and moving its body, rather than simply stopping its eye movements.

[0100] For example, when the analog stick 180 is moved alternately left and right within a range of 30% or less of the maximum tilt angle (hereinafter, this movement will be referred to as "alternate left and right tilt"), the robot 100 may stop eye movement, close its eyelids, and move its head up and down to express a "sleepy" state. The operation history management unit 184 refers to the operation history and determines whether the movement of the analog stick 180 corresponds to "alternate left and right tilt." If it corresponds to "alternate left and right tilt," the eye generation unit 172 stops the movement of the eyeball model 250 and displays the eyelid image 190. Furthermore, the operation control unit 150 selects a motion that moves the head of the robot 100 up and down. As a result, the robot 100 closes its eyes and moves its head up and down to express a "sleepy" state.

[0101] Living creatures feel sleepy when they feel at ease. By playing with the robot 100 and making the robot 100 express its sleepiness, the user can feel that the robot 100 feels at ease by playing with the robot 100. When the state management unit 244 detects alternating left and right tilts, it increases an emotion parameter indicating a sense of ease. When the emotion parameter indicating a sense of ease exceeds a predetermined value, the robot 100 may close its eyes and move its head up and down.

[0102] When the user holds the robot 100 sideways, the robot 100 occupies most of the user's field of vision. At this time, the user is more likely to notice small changes in the robot 100. The user is more likely to focus on the nose 109 and eyes 110 of the robot 100 that is being held sideways. When this state is detected, for example, when a state in which the user is holding the robot 100 sideways is detected from an image captured by the camera of the robot 100, if the eyes change in conjunction with the movement of the analog stick 180 when the user plays with the nose 109, the user can become immersed in the robot 100 without being distracted by anything other than the robot 100.

[0103] Living things react insensitively to short-term stimuli, but may start to move drastically when exposed to long-term stimuli. The robot 100 can also express similar behavior by gradually increasing its movements as the user continues to touch it. When the user continues to play with the nose 109, the robot 100, which initially moves only its eyes, starts to move its head as well. The movement control unit 150 may drive parts farther from the nose 109 as the duration of the transformation becomes longer. For example, manipulating the nose 109 may cause the robot 100 to move the eye images 171, and continuing to manipulate the nose 109 may cause the robot 100 to slowly move its head. Further manipulation of the nose 109 may cause the robot 100 to move its hands, and further manipulation of the nose 109 may cause the robot 100 to move away from the user. The deformation duration may be defined as the duration of tilting the analog stick 180 or the duration of touching the nose sensor.

[0104] As another example, when the user continues to alternately tilt left and right for 10 seconds, the robot 100 moves its head up and down to represent a state of "getting sleepy and beginning to doze off."

[0105] Suppose the user continues to alternately lean left and right for 20 seconds or more. In this case, the robot 100 may further move the hands 106 closer to the body 104 and retract the front wheels 102 and rear wheels 103 into the body 104. If the user continues to alternately lean left and right in this manner, the robot 100 first moves its eyes, then moves its head, becoming "drowsy," and then moves its arms and legs closer to its body, becoming "asleep."

[0106] When the user alternately tilts left and right, the robot 100 may change its motion depending on whether the user moves the analog stick 180 quickly or slowly. The operation history management unit 184 records the amount and direction of deformation of the analog stick 180 as an operation history. The operation history management unit 184 calculates the deformation speed (amount of change per unit time) from the operation history.

[0107] When the transformation duration is 10 seconds or more and the transformation speed during those 10 seconds is equal to or less than a predetermined value, the movement control unit 150 selects a motion of moving the head up and down. On the other hand, when the transformation speed exceeds the predetermined value, the movement control unit 150 selects a motion of moving the head left and right. By this control, the robot 100 shakes its head from side to side to express "no, no."

[0108] The robot 100 of the first embodiment changes its motion depending on how the user manipulates the nose 109. Here, the manipulation does not simply mean the direction of deformation of the analog stick 180. For example, it also includes subtle movements such as whether the analog stick 180 is moved in a small or large manner, i.e., whether it is monotonous or not, whether it is moved quickly or slowly, i.e., whether it is touched roughly or gently. If the robot 100 changes its motion depending on subtle differences in how the user manipulates the nose 109, the user will not tire of interacting with the robot 100.

[0109] The time it takes for the robot 100 to reach the "sleepy" state may vary depending on the internal parameters of the robot 100, such as the degree of intimacy between the robot 100 and the user, and the state of the emotion parameters at any given time.

[0110] Suppose the user touches the nose 109 when the robot 100 has its eyes closed and has not moved or performed a motion for a predetermined period of time (when the robot 100 is sleeping). If the movement of the analog stick 180 is detected in this state, the robot 100 may change the eye image 171 from a closed eye image 171 to an open eye image 171 and perform a movement or motion. In this way, if the robot 100 detects a user's contact with a predetermined eye image 171 and is not performing a motion, the robot 100 may change the eye image 171 and perform a motion.

[0111] The motion of the robot 100 may be changed depending on the intimacy level. For example, when a user with an intimacy level equal to or higher than a predetermined value plays with the nose 109, the robot 100 moves its head closer to the user. On the other hand, when a user whose intimacy level is less than a predetermined value tweaks the nose 109 in the same way, the robot 100 turns its head away from the user. In this way, the movement control unit 150 may select one of a plurality of motions depending on the deformation state of the analog stick 180 and the intimacy level of the user operating the analog stick 180. Specifically, when a predetermined operation input is made by a user whose intimacy level is T1 or higher, the movement control unit 150 may randomly select one of the motions M1 to M3, and when the same operation input is made by a user whose intimacy level is less than T1, the movement control unit 150 may randomly select one of the motions M4 to M6.

[0112] In order to form an attachment to something, it is necessary for a human to spend as much time as possible interacting with it. The behavior of the robot 100 in the first embodiment also changes depending on the intimacy level with the user. Even if the user manipulates the robot 100 in the same way, the robot 100's motion changes depending on the intimacy level, so the user can continue to interact with the robot 100 without getting bored. By continuing to interact with the robot 100, the user can develop an attachment to the robot 100. Furthermore, by continuing to interact with the robot gently, the intimacy level of the robot 100 with the user increases. As the intimacy level changes, the reaction of the robot 100 also changes. The complex interactions between the operation of the nose 109, the intimacy level (the robot 100's feelings toward the user), and the emotion parameters (the robot 100's mood) can enable the robot 100 to express a variety of behaviors according to the situation.

[0113] When the user plays with the nose 109, the robot 100 first moves its eyes, then moves its head, and then starts to move its body 104. In addition, the function of the robot 100 "moving the analog stick 180 of the nose 109 to move the eyes" (hereinafter, this function may be referred to as the "pupil linkage function") may be enabled on the condition that the user is holding the robot 100 with its face facing the user.

[0114] When the robot 100 is not being held sideways, the robot 100's eyes may simply blink even when the user moves the analog stick 180. Whether the user is holding the robot 100 sideways is detected by a touch sensor (not shown) that detects contact with the surface of the robot 100 and an acceleration sensor (not shown) that detects the tilt of the robot 100. The recognition unit 156 detects the user's contact with the robot 100 via the touch sensor and the acceleration sensor. The posture determination unit (not shown) determines the posture in which the user is contacting the robot 100 based on the detection result detected by the recognition unit 156. When it is determined that the user is holding the robot 100 sideways, the posture determination unit instructs the operation history management unit 184 to enable the pupil link function. Upon receiving the instruction from the posture determination unit, the operation history management unit 184 enables the pupil link function and activates eye movement corresponding to the movement of the analog stick 180 as described above. In this way, the behavioral characteristics of the robot 100 in response to operation of the nose 109 may be changed depending on the posture of the robot 100, such as when it is being held sideways.

[0115] The posture determination unit may enable the pupil link function on the condition that the user and the robot 100 are in a predetermined positional relationship, the user's posture is a predetermined posture, or the like is detected based on a touch sensor, an acceleration sensor, or a captured image. For example, the pupil link function is enabled when the user holds the robot 100 sideways with its face facing the user. Even if the robot 100 responds when the user is not concentrating on the robot 100, the user is likely to miss the response. By linking the analog stick 180 and eye movements when the robot 100 assumes this posture, the user can focus their attention on the robot 100 and become aware of subtle changes in the robot 100. Note that instead of detecting that the user is holding the robot 100 sideways, the pupil link function may be enabled based on the detection that the robot 100 is in a posture that allows the user to focus their attention on the robot 100 and become aware of subtle changes in the robot 100, such as sitting on the user's lap facing each other. In addition, the pupil link function may be enabled based on the detection of ... rather than the detection of a touch sensor or an acceleration sensor. A condition for enabling the pupil link function may be to detect whether the user and the robot 100 are facing each other using authentication technology. A state in which the robot 100 has its wheels completely retracted into the body 104 may be defined as "hold mode," and the pupil link function may be enabled when the robot 100 is in the "hold mode" and it is determined by facial authentication technology or the like that the user and the robot 100 are facing each other.

[0116] [Second embodiment] The robot 100 of the second embodiment changes the movement of its eyes (eye action) according to the trajectory (route pattern) of the nose 109 when the nose 109 is moved. The robot 100 of the second embodiment has the same general appearance as the robot 100 of the first embodiment.

[0117] FIG. 12 is a functional block diagram of a robot system 300 according to the second embodiment. The data storage unit 148 of the robot 100 in the second embodiment further includes an eye movement storage unit 174. The eye movement storage unit 174 stores the movement (deformation pattern) of the analog stick 180 and the eye movement (eye movement) of the robot in association with each other. The motion storage unit 160 of the robot 100 in the second embodiment also stores motions corresponding to the duration (deformation duration) of the deformation state of the analog stick 180 (the state in which the analog stick 180 is moved from the initial position).

[0118] The operation history management unit 184 of the robot 100 in the second embodiment stores the detection results of the operation detection unit 182 in chronological order as an operation history. The operation history management unit 184 compares the stored operation history with the execution conditions of deformation patterns (described in detail later) stored in the eye movement storage unit 174, and when the operation history matches any of the execution conditions, it instructs the eye generation unit 172 to execute the eye movement associated with that deformation pattern. The eye generation unit 172 executes the eye movement in response to the instruction from the operation history management unit 184. As in the first embodiment, "eye movement" refers to a change in the eye image 171 due to the rotation of the eyeball model 250.

[0119] The robot 100 in the second embodiment also changes the eye image 171 in accordance with the operation history of the analog stick 180 provided on the nose 109. In addition, a motion is selected in accordance with the duration of the transformation, and the drive mechanism 120 of the robot 100 is controlled.

[0120] FIG. 13 is a flowchart showing the eye movements and motions of the robot 100 based on the operation history. As described above, the operation history management unit 184 stores the detection results of the operation detection unit 182 in chronological order as an operation history (S10). The operation history management unit 184 determines whether the stored operation history matches any of the deformation patterns stored in the eye movement storage unit 174 (S12). If a matching deformation pattern exists (Y in S12), the operation history management unit 184 sequentially determines how long the deformation state has continued based on the operation history (S14). If a matching deformation pattern does not exist (N in S12), the subsequent processing is skipped. If the deformation duration is less than 5 seconds (N in S14), the operation history management unit 184 instructs the eye generation unit 172 to execute an eye movement corresponding to the deformation pattern (S16). On the other hand, if the deformation duration is 5 seconds or more (Y in S14), the operation history management unit 184 instructs the eye generation unit 172 to perform an eye-closing operation (S18), and instructs the operation control unit 150 to query the motion from the motion storage unit 160 and have the drive mechanism 120 execute the motion (S20).

[0121] Specifically, the operation history management unit 184 of the robot 100 selects an eye action that is associated with a deformation pattern in advance, and instructs the eye generation unit 172 to execute it. For example, suppose that an eye action of rolling the eyes is associated with a deformation pattern defined by a predetermined execution condition of rotating the analog stick 180 clockwise once. In this case, when the user rotates the analog stick 180 clockwise once, the robot The robot 100 rolls its eyes. The movement control unit 150 also selects one of the motions from one or more motions that are pre-associated with the duration of the transformation. When the condition that the duration of the transformation is 5 seconds or more is met, it is assumed that a motion of moving the head of the robot 100 from side to side is associated with this duration of the transformation. In this case, when the user continues to move the analog stick 180 for, for example, 6 seconds, the robot 100 will shake its head from side to side.

[0122] Fig. 14(a) is a diagram showing the data structure of the eye movement table 420. Fig. 14(b) is a diagram showing the data structure of the transformation pattern selection table 440 for the analog stick 180. The eye movement table 420 defines the correspondence between the deformation patterns of the analog stick 180 and the eye movements. The deformation pattern selection table 440 indicates the parameters by which each deformation pattern is defined. The eye movement table 420 and the deformation pattern selection table 440 are stored in the eye movement storage unit 174.

[0123] The operation history is a chronological record of the deformation direction and amount of the analog stick 180 and the corresponding times. By referring to the operation history, the path (trajectory) followed by the analog stick 180 can be identified. For example, the movement of the analog stick 180 that follows path R1, which is the trajectory when making one full clockwise rotation, and that completes the movement along path R1 within one second, is defined as deformation pattern A1. In the second embodiment, paths are included in the "deformation mode" of this embodiment. Similarly, the movement of the analog stick 180 that moves the analog stick 180 from the initial position to the left and right, and then follows path R2, which is the trajectory when returning to the initial position, and that completes the movement along path R2 within two seconds is defined as deformation pattern A2. The movement of the analog stick 180 that follows path R3, which is the trajectory when pressing from the initial position, and that completes the movement along path R3 within 0.5 seconds is defined as deformation pattern A3.

[0124] Each deformation pattern is associated with an eye movement. For example, in the case of deformation pattern A1, the eye generation unit 172 executes a movement of rotating the eyes (eye movement M1). In the case of deformation pattern A2, the eye generation unit 172 executes a movement of blinking (eye movement M2). In the case of deformation pattern A3, the eye generation unit 172 executes a movement of bringing the eyes together (eye movement M3).

[0125] When the user moves the analog stick 180, the operation detection unit 182 detects the movement of the analog stick 180 via the internal sensor 128. The movement pattern is transmitted from the operation detection unit 182 to the operation history management unit 184, and if the deformation duration is less than 5 seconds, the operation history management unit 184 compares the movement pattern with the execution conditions of the deformation patterns stored in the eye movement storage unit 174 (the case where the deformation duration is 5 seconds or more will be described later). If the operation lasts less than 5 seconds and the movement pattern of the analog stick 180 matches the execution conditions of any of the deformation patterns, the operation history management unit 184 identifies the eye movement associated with that deformation pattern. The operation history management unit 184 instructs the eye generation unit 172 to execute the identified eye movement. The eye generation unit 172 executes the identified eye movement.

[0126] Specifically, for example, suppose the user moves the analog stick 180 to follow path R1 and completes the movement in 0.5 seconds. Since this movement matches the execution condition for deformation pattern A1, the operation history management unit 184 identifies eye movement M1 associated with deformation pattern A1, and the eye generation unit 172 performs eye movement M1, i.e., a movement of rolling the eyes.

[0127] In the second embodiment, the behavior of the robot 100 changes not only in accordance with the eye movement but also in accordance with the duration of deformation of the analog stick 180.

[0128] FIG. 15 is a diagram showing the data structure of the motion selection table 460. The motion selection table 460 defines the correspondence between the transformation duration and the motion. The motion selection table 460 is stored in the motion storage unit 160.

[0129] As described above, when the deformation duration is 5 seconds or more, the operation history management unit 184 instructs the execution of the eye closing action (eye closing action). Based on the instruction from the operation history management unit 184, the eye generation unit 172 executes the eye closing action. The motion control unit 150 identifies motion C1, which is a motion corresponding to a transformation duration of 5 seconds or more, from the motion storage unit 160. Motion C1 is a motion in which the head of the robot 100 moves from side to side. The robot 100 closes its eyes and shakes its head from side to side, demonstrating the behavior of "turning its face away."

[0130] If the transformation duration is 15 seconds or more, the movement control unit 150 selects motion C2. Motion C2 is a movement of raising and lowering the hands of the robot 100. The movement control unit 150 activates motions C1 and C2. Then, the robot 100 performs motions C1 and C2, closing its eyes, shaking its head, and flapping its hands to express a "no, no" movement.

[0131] When the duration of the transformation is short, the operation control unit 150 selects a motion that drives a part of the robot 100 from the nose 109 to the head within a predetermined range. When the duration of the transformation is long, motions that drive parts of the robot 100 outside the head also become targets for selection.

[0132] The robot 100 in the second embodiment moves its eyes in response to the movement of the analog stick 180 attached to the nose 109. If the analog stick 180 continues to be moved, the robot 100 starts to move its head. If the analog stick 180 continues to be moved even after the head starts to move, the robot 100 starts to move its body. In this way, as the user continues to play with the nose 109, the robot 100 moves its eyes, and then starts to move its head and body. This gives the user the impression that the robot 100 is behaving like a living creature, such as getting bored of being touched or starting to feel ticklish, and the user can experience the sensation of interacting with a living creature.

[0133] In the second embodiment, the analog stick 180 is attached to the nose 109. When communicating, humans often look at the other person's face. The same is true when interacting with a robot; it is thought that the user will touch the robot 100 while looking at the facial region 107 of the robot 100. In this case, if there is a part that catches the user's eye, such as the face or nose, that the user will unconsciously want to touch, there is a high possibility that the user will touch it unconsciously. In the robot 100 of the second embodiment, this is the nose 109. When the analog stick 180 of the nose 109, which the user will unconsciously want to touch, is moved, the robot 100 behaves in accordance with the movement, and the user will feel as if the robot 100 is alive, which will lead to a greater attachment to the robot 100.

[0134] Fig. 16 is a front view of the robot 100 in a stationary state, showing the robot 100 standing still when the user is not touching the robot 100. Fig. 17 is a front view of the robot 100 when motion C1 is activated. Fig. 17 is a diagram showing a state when the robot 100 activates motion C1 as a result of the user repeatedly touching the analog stick 180 of the robot 100. When the user is not moving the analog stick 180, the robot 100's eyes 110 are open and it gazes straight ahead. If the user continues to move the analog stick 180 and the transformation duration exceeds 5 seconds, the robot 100 closes its eyes 110 and turns its head away.

[0135] The robot 100 has been described above based on the embodiment. The robot 100 of this embodiment has an analog stick 180 provided on the nose 109 . Since the robot 100 responds to the user's touch on the nose 109, which is easily touched unconsciously, the user feels as if the robot 100 is communicating with the user, and is more likely to become attached to the robot 100.

[0136] The robot 100 of this embodiment changes its eyes in response to the movement of the analog stick 180. Furthermore, if the analog stick 180 is manipulated for a long time, the robot 100 begins to move its head and body. When the user manipulates the analog stick 180 slightly, the robot 100 moves its eyes to show interest in the user. If the manipulation continues, the robot 100 moves its head to avoid the user's hand, expressing its desire to "stop." If the user pays too much attention, the robot 100 begins to flap its hands to express its desire to "no." The robot 100 of this embodiment changes its facial expressions and behavior depending not only on the movement of the analog stick 180 but also on the duration of the movement. The user feels as if the robot 100 has emotions (whimsicality) such as "I'm bored," "It tickles," "It's annoying," and "Please do more," and can sense the robot 100's biological behavior.

[0137] In this embodiment, the robot 100's eyes change when the user manipulates the analog stick 180 attached to the nose 109. Furthermore, if the user manipulates the analog stick 180 for a long time, the robot 100 starts to move its head, and if the manipulation continues, the robot 100 starts to move its body. When the nose 109 is manipulated, the behavior of the robot 100 is first displayed in the area located in the face region 107 near the nose 109, so the user will not miss the reaction of the robot 100. If the manipulation continues, not only the area within the face region 107 but also the inside of the head of the robot 100 within a predetermined range begins to move, and if the manipulation continues further, behavior is also displayed outside the head of the robot 100 (outside the predetermined range). The user can enjoy watching the expressions and actions of the robot 100 change depending on how and for how long the nose 109 is manipulated.

[0138] The robot 100 of this embodiment changes its eyes in response to the movement of the analog stick 180 provided on the nose 109. As a modified example, an image of the user may be captured by an imaging device, and the user's movement may be detected from the captured image by a motion sensor, and then the eyes may be changed in response to the user's movement. However, compared to detecting the user's movement through image processing such as a motion sensor, detecting the movement of the analog stick 180 can shorten the time from the user's contact with the robot 100 to the behavior of the robot 100. Furthermore, the user's contact with the robot 100 can be reliably detected.

[0139] In this embodiment, an analog stick 180 (operation device) is provided directly on the main body of the robot 100. In a modified example, an operation device such as a remote controller may be provided separately from the main body of the robot 100. However, when the operation device is provided directly on the main body of the robot 100, the user directly touches the robot 100. Therefore, compared to when the operation device is provided separately from the main body of the robot 100, it is easier for the user to intuitively operate and control the robot 100.

[0140] The present invention is not limited to the above-described embodiments and modifications, and the components can be modified without departing from the spirit of the invention. Various inventions can be formed by appropriately combining multiple components disclosed in the above-described embodiments and modifications. Furthermore, some components can be omitted from all the components shown in the above-described embodiments and modifications. Other embodiments will be described below.

[0141] In the embodiment, the operation detection unit 182 detects the movement (deformation) of the analog stick 180, and the behavior of the robot 100 is determined according to the detection result. However, what is detected by the operation detection unit 182 is not limited to this, and it may be any deformation of the robot 100 body or the movement of a device provided on the robot 100 body. The detected deformation or movement may be, for example, Any physical motion such as shaking the head of the robot 100, clenching the hands, shaking the body, or pinching the cheek of the user may be detected. The means for detecting these motions may be any means for detecting physical motions such as a joystick or a trackball. An analog stick 180 or the like may be disposed inside the flexible outer skin of the robot 100 so that these detection means are not exposed on the surface of the robot 100.

[0142] In the embodiment, the part where the operation detection unit 182 detects contact is the nose 109. The part where the contact is detected is not limited to the nose 109. For example, any part where contact can be detected may be used, such as a rounded part such as a paw pad on an animal, a protruding part such as a tail, or a part that is expected to deform such as a cheek. Preferably, the part is a part that the user tends to touch unconsciously.

[0143] In the embodiment, the eyes move when the nose 109 is played with. The moving part of the robot 100 is not limited to the eyes, but may be any movable part such as the neck, tail, or hands. Furthermore, the part where contact is detected by the operation detection unit 182 and the moving part may be close or far apart, and for example, the nose may move when the tail is played with.

[0144] In the embodiment, the head of the robot 100 is set as the predetermined range, and if the nose 109 is played with for 5 seconds or more but less than 15 seconds, only the head of the robot 100 is driven, and if the time is 15 seconds or more, not only the head of the robot 100 but also the hands 106, which are parts outside the predetermined range, are driven. The "predetermined range" that determines the parts to be driven in response to the deformation of the main body of the robot 100 or the movement of a device provided on the main body of the robot 100, is not limited to the head of the robot 100. For example, it may be the facial region 107 of the robot 100, or a part of the robot 100 other than the feet. It is sufficient to set an appropriate range among the parts that can be moved by the drive mechanism of the robot 100.

[0145] Furthermore, the transformation duration conditions for activating each motion are not limited to 5 seconds or more or 15 seconds or more, but can be set to various times, such as 1 second or less or 1 minute or more.

[0146] In the embodiment, the motion is changed according to the time (transformation duration) for which the nose 109 is continuously manipulated. In addition to the transformation duration, the transformation mode of the robot 100 body, such as the path or transformation speed, or the movement of a device provided in the robot 100, may also be used as a condition for selecting a motion.

[0147] The eyes or movements of the robot 100 may be changed depending on the cumulative value of the amount of deformation, the cumulative value of the duration of deformation, or the pressure applied to the robot 100. For example, when the nose 109 is manipulated with a weak force, the transition from eye movement to head movement and then whole body movement is gradual, so only the eye movement may be changed for a long period of time. When the nose 109 is manipulated with a strong force, the transition from eye movement to head movement to whole body movement may be short-term. This allows the behavior of the robot 100 to be varied in accordance with the manner of manipulation. Unlike simple touches such as stroking or hitting, the robot 100 of the present invention responds to touches that involve "deformation." In other words, it detects contact not only as electrical contact but also as physical "deformation." Different users have different "ways of interacting," such as the strength of interaction, the amount of deformation, and the contact area. If the robot 100 responds expressively to the different "ways of interacting" by different users, the users will develop an attachment to the robot 100.

[0148] In the embodiment, the behavior of the robot 100 is determined in accordance with the movement of the analog stick 180. However, the trigger for determining the behavior of the robot 100 is not limited to this, and for example, a sensor may be provided in a location where it is expected that the user will unconsciously want to manipulate it. Furthermore, a plurality of sensors may be provided on the robot 100 body. When a plurality of sensors are provided, one of them may be a sensor that detects the movement of the analog stick 180. Furthermore, all of the sensors may be configured to detect the movement of the analog stick 180 to the same extent. The detection accuracy may be a sensor with the same detection accuracy as the robot 100, or a sensor with a different detection accuracy may be used. When multiple sensors with different detection accuracy are provided, a sensor with a higher detection accuracy may be provided in a location where it is expected that the user will want to play with it. In this case, the detection accuracy is the detection sensitivity to the amount of change when the user changes the contact point on the robot 100 body. Hereinafter, the detection of the user's contact by any of the sensors provided on the robot 100 body may be referred to as "the user touches the robot 100" or "the user contacts the robot 100."

[0149] An example of a sensor provided other than the nose 109 is a sensor that detects the user's contact with two positions on the surface of the robot 100 that sandwich the eye 110. When the user's contact is detected by this sensor, the eye generation unit 172 lowers the eyelid image 190 (closes the eye). This allows the robot 100 to express a behavior of closing its eyes because the eye 110 is covered.

[0150] If the robot 100 is provided with multiple sensors, when any of the sensors detects a user's contact, the eye generation unit 172 may generate an eye image 171 in which the robot 100 directs its virtual gaze toward the contact point. Hereinafter, the eye generation unit 172 displaying the eye image 171 with its virtual gaze directed toward a predetermined point on the monitor 170 for a predetermined period of time may be referred to as "the robot 100 gazing at a predetermined point." For example, when a user touches the robot 100's hand, the robot 100 gazes at the hand. Alternatively, when a user touches the robot 100's stomach, the robot 100 gazes at the stomach. Furthermore, if the user's contact exceeds a predetermined period of time, the robot 100 may move a part of the robot 100 that includes the contact point. For example, if the user touches the robot 100's hand for more than five seconds, the robot 100 makes a motion as if it is trying to remove the robot 100's hand from the user's hand. Furthermore, if the user touches the robot 100's stomach for more than ten seconds, the robot 100 makes a motion of shaking its stomach from side to side. In this way, when any of the sensors provided at multiple locations on the robot 100 detects a user's touch, the eye generation unit 172 generates an eye image 171 gazing at the contact point. Furthermore, when the time for which the user's touch is detected by any of the sensors exceeds a predetermined time, the operation control unit 150 executes a motion to move the part including the contact point. This allows the user to feel that the robot 100 is exhibiting a biological behavior of gazing intently at the touched part and then twisting its body.

[0151] Installing high-precision sensors over the entire body of the robot 100 would result in high power consumption. By providing high-precision sensors only to some sensors, power consumption can be reduced. Furthermore, by providing high-precision sensors only in areas where the user is likely to want to interact with the robot 100, the robot 100 can detect even the user's smallest movements and respond accordingly to those movements. This allows for the expression of a living creature's characteristic of being sensitive to touch at a specific point, while remaining unresponsive to touches on other parts of its body. Even a slight touch by the user can be detected and responded to by the robot 100, allowing the user to feel as if the robot 100 is responding to even the slightest movement, giving the user a sense of communication with the robot 100. Note that detection accuracy is not limited to the sensitivity to the amount of change when the user changes the contact point on the robot 100 body. It may also be the ability to detect, for example, the strength or range of contact. Furthermore, a physically moving sensor may be used as the high-precision sensor, and a capacitive touch sensor may be used as the low-precision sensor. Alternatively, the same type of sensor may be used but with different detection accuracies. Various types of sensors can be used, and in addition to the sensors described above, for example, sensors that provide force feedback when they detect contact by the user may be used.

[0152] In the embodiment, the eye movements of the robot 100 are shown as eye movements M1, which is a movement of rolling the eyes, M2, which is a movement of blinking, and M3, which is a movement of bringing the eyes together. The eye movements of the robot 100 are not limited to these. For example, the eye movements of the robot 100 may include a movement of averting the gaze, a movement of bringing the eyes together, and the like. Any action that the robot 100 can perform, such as widening the eyes or squinting the eyes, may be used.

[0153] In the embodiment, motion C1, which is a motion of moving the head from side to side, and motion C2, which is a motion of moving the hands up and down, are shown as the motions of the robot 100. The motions exhibited by the robot 100 are not limited to these. For example, any motion that the robot 100 can realize may be used, such as moving the head vertically to "nod," tilting the head to "tilt the head," pulling the hands behind the body, leaning the body forward to "bow," moving the feet to "step back," or stopping movement to "ignore."

[0154] In the embodiment, the nose 109 is smaller than the eyes 110 and the face region 107. The size of the nose 109 is not limited to this, and it may be the same size as or larger than the eyes 110. Furthermore, the size relationship between the various parts such as the eyes 110 and the face region 107 is not limited to the embodiment, and can be changed in design as appropriate.

[0155] In the present invention, when a user plays with the nose 109 of the robot 100, the robot 100 responds depending on the manner of the play. A sensor is provided that can detect changes in a location that the user is likely to play with unconsciously. If the robot 100's eyes move, its facial expression changes, and its body begins to move depending on the manner of play when the user plays with that location, the user will develop an attachment to the robot 100. If the robot 100's response changes depending on the manner of play, the user will spend more time interacting with the robot 100. If the user's contact time with the robot 100 can be increased, the user's attachment to the robot 100 can be further deepened. Note that no animal moves its eyes in response to a nose play. Even humans do not do this. Even if such behavior were possible, it would be difficult for someone to move their eyes in response to the direction of the play when their nose is played with. This is one expression that is possible only with the robot 100.

Claims

1. an operation detection unit that detects deformation of the robot body; an eye generating unit that generates an eye image and displays the eye image in a face area of ​​the robot; The robot is characterized in that the eye generation unit changes the eye image in accordance with the deformation mode when a deformation of the robot body is detected.

2. 2. The robot according to claim 1, wherein the eye generation unit changes the eye image based on at least one of a deformation direction, a deformation amount, and a deformation speed as the deformation mode.

3. It has a motion control unit that selects the robot's motion, The robot according to claim 1 or 2, characterized in that, after the change in the eye image has begun, when the deformation state of the robot body satisfies a predetermined condition, the operation control unit selects a motion corresponding to the deformation state.

4. 4. The robot according to claim 3, wherein the motion selected when the predetermined condition is satisfied is a motion that drives the head of the robot.

5. an operation history management unit that records the deformation state of the robot body over time as an operation history; 5. The robot according to claim 1, wherein the eye generation unit changes the eye image in accordance with the operation history.

6. a motion control unit that selects the motion of the robot; an operation history management unit that records the deformation state of the robot body over time as an operation history; 6. The robot according to claim 1, wherein the operation control unit changes the motion in accordance with the operation history.

7. 7. The robot according to claim 5, wherein the operation history includes a duration of a transformation state.

8. 8. The robot according to claim 1, wherein the operation detection unit detects deformation of a protrusion provided in a face area of ​​the robot body.

9. the protrusion is a projection provided on a portion of the robot body that corresponds to a nose, The robot according to claim 8 , wherein the operation detection unit detects deformation of the protrusion.

10. a posture determination unit that determines the posture of the robot; A robot as described in any one of claims 1 to 9, characterized in that, on the condition that the posture determination unit identifies that the user is picking up the robot, the eye generation unit changes the eye image according to the deformation state.

11. a motion control unit that selects the motion of the robot; a drive mechanism for performing the selected motion; an operation detection unit that detects the movement of a device provided on the robot body; The robot is characterized in that, when movement of the device is detected, the operation control unit selects a motion that corresponds to the movement of the device from among motions that are to be driven within a predetermined range from the device.

12. The robot according to claim 11, characterized in that the operation control unit drives a part of the robot within the specified range when movement of the device is detected, and when the movement of the device satisfies specified conditions after starting to drive the part, also drives an area outside the specified range.

13. a first sensor installed on a body surface of the robot and configured to detect contact by a user; a second sensor provided in a face region of the robot and configured to detect a user's contact with the robot with higher accuracy than the first sensor; an eye generating unit that generates an eye image and displays the eye image in the face area; The robot is characterized in that the eye generation unit changes the eye image in conjunction with a change in the detection value of the second sensor.

14. 14. The robot according to claim 13, wherein the second sensor is provided in an area smaller than that of the first sensor, and detects the amount of deformation of the body surface of the robot caused by contact with the user.

15. A protrusion that resembles a nose, an eye generating unit that expresses a line of sight by moving the pupil, The robot is characterized in that the eye generation unit changes the pupil in conjunction with the deformation state of the convex portion.

Images