Robot control device, robot, robot control method, and program

Abstract

To suppress execution of unnatural operation by a robot.SOLUTION: A robot control device controls a robot including a sensor for detecting an external stimulus. When causing a robot to execute processing corresponding to an external stimulus, a control part of a robot control device invalidates the execution of the processing corresponding to the external stimulus detected by a sensor on the basis of the type of a gesture being executed by the robot (steps S103 to S108). For example, for an external stimulus belonging to a certain group, the robot is caused to execute a process corresponding to the external stimulus regardless of what gesture is being executed. For an external stimulus belonging to another group, the robot is caused to execute a process corresponding to the external stimulus if the gesture being executed is a voluntary gesture, and the robot is not caused to execute a process corresponding to the external stimulus if the gesture being executed is not a voluntary gesture.SELECTED DRAWING: Figure 6

Description

[Technical Field]

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

[0002] BACKGROUND ART Conventionally, there is known a technique for making a robot perform a predetermined reaction action in response to an external stimulus such as a call from a user (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-326479 Summary of the Invention [Problem to be solved by the invention]

[0004] However, if a robot is made to react uniformly to external stimuli, it may end up behaving unnaturally depending on the situation it is in. For example, if the robot's own movements (gestures) cause sensors to detect contact with the surroundings or sounds, the robot may react unnaturally.

[0005] The present invention has been made in consideration of the above-mentioned problems in the conventional technology, and an object of the present invention is to prevent a robot from performing unnatural movements. [Means for solving the problem]

[0006] In order to solve the above problem, the robot control device of the present invention is a robot control device that controls a robot equipped with a sensor that detects external stimuli, and when causing the robot to execute processing in response to the external stimuli, is equipped with a control unit that disables execution of the processing in response to the external stimuli detected by the sensor, stops detection of the external stimuli by the sensor, or reduces the sensitivity of detection of the external stimuli by the sensor, based on the type of gesture being performed by the robot. [Effects of the Invention]

[0007] According to the present invention, it is possible to prevent a robot from performing unnatural movements. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing the appearance of a robot. [Figure 2] FIG. 2 is a schematic diagram showing the configuration of a main body of the robot. [Figure 3] FIG. 2 is a block diagram showing the functional configuration of the robot. [Figure 4] FIG. 10 is a schematic cross-sectional view showing the robot stored in the power supply unit. [Figure 5] FIG. 10 is a diagram for explaining groups of external stimuli. [Figure 6] 10 is a flowchart showing a control procedure of an operation control process. [Figure 7] 10 is a flowchart showing a control procedure for a reaction gesture execution determination process. [Figure 8] 10 is a time chart showing an example of the operation of the robot in the absence of an external stimulus. [Figure 9] 10 is a time chart showing an example of the operation of the robot when an external stimulus occurs. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 1, robot 1 includes main body 100 and exterior 200 that covers main body 100. Robot 1 is a pet robot that imitates a small living creature. Robot 1 can perform a number of movements that imitate the behavior of living creatures. Exterior 200 changes shape to follow the movement of main body 100. Exterior 200 includes fur made of pile fabric, decorative members that resemble eyes, and the like. Robot 1 is equipped with AI (Artificial Intelligence), and has learning functions that enable it to expand the variety of its movements and improve its ability to communicate with users.

[0010] As shown in FIG. 2 , the main body 100 of the robot 1 includes a head 101, a trunk 103, and a connecting portion 102 that connects the head 101 and the trunk 103. Hereinafter, the portion of the robot 1 that corresponds to the head 101 may be referred to as the "neck." The main body 100 includes a drive unit 40 for moving the head 101 relative to the trunk 103. The drive unit 40 includes a twist motor 41 and a vertical movement motor 42. The twist motor 41 is a servo motor that rotates the head 101 and the connecting portion 102 within a predetermined angular range around a first rotation axis 401 that extends in the direction of extension of the connecting portion 102. Operation of the twist motor 41 causes the robot 1 to twist its neck. The vertical movement motor 42 is a servo motor that rotates the head 101 within a predetermined angular range around a second rotation axis 402 that is perpendicular to the first rotation axis 401. The up-and-down motor 42 causes the robot 1 to move its neck up and down. The direction of the up-and-down movement of the neck can be inclined relative to the vertical direction, depending on the angle of twist of the neck caused by the twist motor 41. By operating the twist motor 41 and / or the up-and-down motor 42 in a fine, cyclical manner, the robot 1 can move its neck in a shaking or trembling manner. By appropriately changing and combining the timing, magnitude, and speed of the operations of the twist motor 41 and the up-and-down motor 42, the robot 1 can be made to perform a variety of gestures, such as gestures of joy, gestures of surprise, and breathing gestures that mimic the breathing of a living creature.

[0011] The main body 100 has a touch sensor 51, an acceleration sensor 52, a gyro sensor 53, an illuminance sensor 54, a microphone 55, a sound output unit 30, and a power receiving coil 73. The touch sensor 51 is provided on the upper part of the head 101 and on the upper part and side of the body 103. The touch sensor 51 may also be provided on the connecting part 102. The illuminance sensor 54, the microphone 55, and the sound output unit 30 are provided on the upper part of the body 103. The acceleration sensor 52 and the gyro sensor 53 are provided on the lower part of the body 103. The power receiving coil 73 is provided near the lower surface of the body 103.

[0012] As shown in FIG. 3, the robot 1 includes a CPU 11 (Central Processing Unit), a RAM 12 (Random Access Memory), a storage unit 13, an operation unit 20, a sound output unit 30, a drive unit 40, a sensor unit 50, a communication unit 60, and a power supply unit 70. The various units of the robot 1 are connected via a communication path such as a bus. All of the functional components shown in FIG. 3 are provided in the main body 100. The CPU 11, RAM 12, and storage unit 13 form a robot control device 10 that controls the operation of the robot 1.

[0013] The CPU 11 is a processor (control unit) that reads and executes a program 131 stored in the storage unit 13 and performs various arithmetic processing to control the operation of the robot 1. The robot 1 may have multiple processors (e.g., multiple CPUs), and the multiple processes performed by the CPU 11 of this embodiment may be executed by these multiple processors. In this case, the control unit is made up of the multiple processors. In this case, the multiple processors may be involved in a common process, or the multiple processors may independently execute different processes in parallel. The RAM 12 provides a working memory space for the CPU 11 and stores temporary data.

[0014] The storage unit 13 is a non-transitory recording medium readable by the CPU 11 as a computer, and stores a program 131 and various data. The storage unit 13 includes a non-volatile memory such as a flash memory. The program 131 is stored in the storage unit 13 in the form of computer-readable program code. Data stored in the storage unit 13 includes operation setting data 132. The operation setting data 132 contains settings for operations such as processes (reaction gestures) performed by the robot 1 in response to the state of the robot 1 and the content of external stimuli, as well as spontaneous gestures performed by the robot 1 without external stimuli. Settings related to the operation contents include, for example, settings for the operation timing and amount of operation of the twist motor 41 and the up-down motor 42 of the drive unit 40, and settings for the pitch (height), duration, and volume of the sound output by the sound output unit 30. The operation setting data 132 associates predetermined conditions with gestures to be performed when the predetermined conditions are met.

[0015] The operation unit 20 includes operation buttons and knobs for turning the power on and off and adjusting the volume of the sound output by the sound output unit 30. The operation unit 20 outputs operation information to the CPU 11 according to input operations on the operation buttons and knobs. The sound output unit 30 includes a speaker and outputs sound with a pitch (height), length, and volume according to the control signal and sound data transmitted from the CPU 11. The sound may be a sound that imitates the cry of a living creature. The drive unit 40 operates the twist motor 41 and the up-and-down motor 42 described above according to the control signal transmitted from the CPU 11.

[0016] The sensor unit 50 includes the touch sensor 51, acceleration sensor 52, gyro sensor 53, illuminance sensor 54, and microphone 55, and outputs the detection results of each sensor and microphone 55 to the CPU 11. The touch sensor 51, acceleration sensor 52, gyro sensor 53, illuminance sensor 54, and microphone 55 correspond to "sensors for detecting external stimuli." The touch sensor 51 detects contact of the robot 1 with a user or another object. The touch sensor 51 includes, for example, a pressure sensor or a capacitance sensor, and outputs detection data related to the presence or absence of contact with the robot 1 to the CPU 11. If the touch sensor 51 includes a pressure sensor, the touch sensor 51 also outputs the strength of contact with the robot 1 to the CPU 11. The acceleration sensor 52 detects acceleration in each of three orthogonal axial directions and outputs the detection data to the CPU 11. The gyro sensor 53 detects angular velocity around each of the three orthogonal axial directions and outputs the detection data to the CPU 11. The illuminance sensor 54 detects the brightness around the robot 1 and outputs the detected data to the CPU 11. The microphone 55 detects sounds around the robot 1 and outputs data on the detected sounds to the CPU 11. The sensor unit 50 may also include a sensor that detects when the power button on the operation unit 20 is pressed.

[0017] The communication unit 60 is a communication module having an antenna, a modulation / demodulation circuit, a signal processing circuit, etc., and performs wireless data communication with external devices in accordance with a predetermined communication standard.

[0018] The power supply unit 70 includes a battery 71, a remaining charge detection unit 72, and a power receiving coil 73. The battery 71 supplies power to each unit of the robot 1. In this embodiment, the battery 71 is a secondary battery that can be repeatedly charged using a contactless charging method. The remaining charge detection unit 72 detects the remaining charge of the battery 71 in accordance with a control signal transmitted from the CPU 11 and outputs the detection result to the CPU 11. As shown in FIG. 4, the charging operation of the battery 71 is performed with the robot 1 stored (installed) inside a dedicated power supply device 80 (storage unit, charging dock). For ease of explanation, FIG. 4 shows a cross section of the power supply device 80 and a side view of the robot 1. The power supply device 80 has an exterior that resembles a house for the robot 1. The power supply device 80 is a container that has approximately the same length and width as the external shape of the robot 1. The power supply device 80 has an opening at the top, through which the robot 1 can be inserted and removed. The power supply device 80 has a shape that allows it to come into contact with the bottom surface 1a of the robot 1 and at least a part of the side surface 1b of the robot 1 when the robot 1 is stored. A power transmission coil 81 is provided on the bottom of the power supply device 80 at a position that faces the power receiving coil 73 when the robot 1 is stored. When the power supply device 80 detects that the robot 1 is stored, it passes a current through the power transmission coil 81 to generate a magnetic field. The power receiving coil 73 of the robot 1 supplies a current generated by electromagnetic induction in response to this magnetic field to the battery 71. With this configuration, when the robot 1 is stored in the power supply device 80, charging of the battery 71 is automatically started. Note that the charging method for the battery 71 is not limited to a contactless charging method, and may be a contact charging method in which charging terminals of the robot 1 and the power supply device 80 come into contact with each other.

[0019] Next, the behavior of the robot 1 will be described. When an external stimulus is detected by the sensor unit 50, the CPU 11 causes the robot 1 to execute processing (a reaction behavior) in response to the detected external stimulus. The external stimulus includes, for example, a change in the state of the robot 1 detected by the touch sensor 51, the acceleration sensor 52, the gyro sensor 53, etc., the brightness around the robot 1 detected by the illuminance sensor 54, and sounds around the robot 1 detected by the microphone 55. The reaction behavior includes an action by the drive unit 40, a cry from the sound output unit 30, etc.

[0020] When the CPU 11 detects a change in the state (contact, movement, orientation, etc.) of the robot 1 as an external stimulus, it causes the robot 1 to execute a predetermined reaction gesture pre-registered in the operation setting data 132. The CPU 11 detects the state of the robot 1 based on detection signals from the touch sensor 51, acceleration sensor 52, and gyro sensor 53. The state of the robot 1 may be, for example, a state in which the robot 1 is being lifted, held, stroked, etc.

[0021] When the CPU 11 detects a loud sound as an external stimulus, it causes the robot 1 to execute a surprised reaction gesture pre-registered in the operation setting data 132. When the CPU 11 detects a sound with a volume greater than a predetermined value by the microphone 55, it determines that a loud sound has been detected.

[0022] When the CPU 11 detects the voice of a user speaking to the robot 1 (hereinafter referred to as "speaking voice") as an external stimulus, it causes the robot 1 to execute a happy reaction gesture pre-registered in the operation setting data 132. When the microphone 55 detects a sound within a predetermined volume range, the CPU 11 determines that speaking voice has been detected. The CPU 11 may determine that speaking voice has been detected by performing voice recognition on the sound data detected by the microphone 55. Voice recognition is not limited to processing to recognize the content of the speech, but may also be processing to simply recognize that it is a human voice. Furthermore, the CPU 11 may distinguish the voice of each individual user so that the robot 1 responds only to the user corresponding to the owner.

[0023] When the CPU 11 detects that the robot 1 has been stored in the power supply device 80 (stored state, house-in) as an external stimulus, the CPU 11 causes the robot 1 to execute a predetermined reaction gesture pre-registered in the operation setting data 132. When the power supply unit 70 is charging the battery 71 by the action of the power receiving coil 73, the CPU 11 determines that the robot 1 is stored in the power supply device 80. When the power supply unit 70 is not charging the battery 71, the CPU 11 determines that the robot 1 is taken out of the power supply device 80 (non-stored state). Note that the CPU 11 may determine whether or not the robot 1 is in the stored state using other methods. For example, the sensor unit 50 may be equipped with a sensor that detects that the robot 1 is stored in the power supply device 80, and the CPU 11 may determine whether or not the robot 1 is in the stored state based on the detection result of the sensor.

[0024] The CPU 11 causes the robot 1 to perform a predetermined spontaneous gesture registered in the operation setting data 132 when the execution condition for the spontaneous gesture is met, even without an external stimulus. The execution condition for the spontaneous gesture may be, for example, but is not limited to, a predetermined period of time without external stimuli. Multiple spontaneous gestures may be registered, and the CPU 11 may cause the robot 1 to perform an action randomly selected from the multiple spontaneous gestures. The CPU 11 causes the robot 1 to repeatedly perform a breathing gesture as one of the spontaneous gestures at a predetermined frequency. This makes the robot 1 appear more lifelike. Spontaneous gestures other than breathing gestures are referred to as "automatically generated motion gestures." In other words, "spontaneous gestures" are "breathing gestures" or "automatically generated motion gestures." Examples of automatically generated motion gestures include a gesture that imitates tilting the head, a gesture that imitates trembling, and a gesture that imitates resting.

[0025] Next, an overview of the present invention will be described. Even while the CPU 11 is performing some gesture, the CPU 11 continues to acquire sensor values ​​from the sensor unit 50 in order to respond to user operations (touch or speech). When the CPU 11 causes the robot 1 to perform processing in response to an external stimulus, the CPU 11 disables the execution of processing in response to the external stimulus detected by a sensor (such as the sensor unit 50) based on the type of gesture being performed by the robot 1.

[0026] The CPU 11 determines whether to cause the robot 1 to execute processing in response to the external stimulus based on the group to which the external stimulus belongs. Figure 5 shows examples of external stimuli belonging to each group when the external stimuli are classified into multiple groups. External stimuli belonging to group A are stimuli that do not occur unless the user consciously operates them, and are stimuli to which the robot 1 should always respond. Group A includes house-in (storing in the power supply device 80) and sudden changes in the gyro sensor 53. Causes of sudden changes in the gyro sensor 53 include dropping the robot 1, rotating it, swinging it around, and suddenly lifting it up.

[0027] External stimuli belonging to Group B are types of stimuli that may be erroneously detected during the execution of gestures with a relatively large amount of movement. Because breathing gestures or automatically generated motion gestures involve relatively small amounts of movement, erroneous detection of external stimuli belonging to Group B is unlikely to occur even during the execution of breathing gestures or automatically generated motion gestures. Therefore, the CPU 11 executes processing according to external stimuli belonging to Group B only when the robot 1 is performing a breathing gesture, an automatically generated motion gesture, or no gestures in progress. On the other hand, to prevent erroneous detection, the CPU 11 does not execute processing according to external stimuli belonging to Group B during the execution of gestures other than breathing gestures and automatically generated motion gestures. Group B includes swinging, flipping, upside down, horizontal body stroking, picking up, holding body stroking, neck stroking, and loud noises. A swing is a rotation of the head 101 and torso 103 around the first rotation axis 401. A flip is an operation in which the ventral side (lower surface) of the torso 103 of the robot 1 faces vertically upward. Upside down is an operation in which the head 101 of the robot 1 is turned vertically downward. Horizontal stroking is an operation in which the user strokes the torso 103 of the robot 1 with the ventral side of the torso 103 facing vertically downward. Picking up is an operation in which the user picks up the robot 1 with their hands. Holding stroking is an operation in which the user strokes the torso 103 while holding the robot 1. Neck stroking is an operation in which the user strokes the connecting part 102 of the robot 1.

[0028] External stimuli belonging to Group C are types of stimuli that are more likely to be falsely detected than external stimuli belonging to Group B. The touch sensor 51 on the head 101 of the robot 1 detects contact due to the shifting or rubbing of the fur (exterior 200) during motor operation. Therefore, the CPU 11 executes processing corresponding to a "head pat" only when the robot 1 is breathing, which involves very little movement, or when no other gesture is currently being performed. The CPU 11 also performs voice recognition and learns the user's voice when the average volume (dB) within a certain period of time is within a predetermined range. During motor operation, the robot 1's own operating sound is input to the microphone 55, and the average volume within a certain period of time may fall within a predetermined range. Therefore, the CPU 11 activates a response gesture in response to speech only when the robot 1 is breathing or when no other gesture is currently being performed. Group C includes horizontal head pats, hugged head pats, and speech (voice recognition). A horizontal head pat is an operation in which the user strokes the head 101 of the robot 1 with the ventral side of the torso 103 facing vertically downward. The head pat while holding the robot 1 is an operation in which the user pats the head 101 while holding the robot 1 in his / her arms.

[0029] The CPU 11 causes the robot 1 to execute a process according to the external stimulus when the gesture being performed by the robot 1 is a spontaneous gesture, and does not cause the robot 1 to execute a process according to the external stimulus when the gesture being performed by the robot 1 is not a spontaneous gesture. In determining whether the gesture being performed by the robot 1 is a spontaneous gesture, the spontaneous gesture may be limited to a gesture imitating breathing (breathing gesture).

[0030] Next, the movement control process executed by the CPU 11 will be described with reference to Fig. 6. The movement control process is started when the robot 1 is powered on (the power button is pressed) and activated. When the movement control process is started, the CPU 11 initializes each unit of the robot 1 (step S101). Next, the CPU 11 determines whether or not a user operation to turn off the power of the robot 1 (pressing the power button) has been performed via the operation unit 20 (step S102). If it is determined that an operation to turn off the power has not been performed (step S102; NO), the CPU 11 determines whether or not an external stimulus has been detected based on the detection results of the various sensors of the sensor unit 50 (step S103). If it is determined that an external stimulus has been detected (step S103; YES), the CPU 11 determines whether or not the robot 1 is currently performing a gesture (step S104). When it is determined that the robot 1 is currently performing a gesture (step S104; YES), the CPU 11 executes a reaction gesture execution determination process (step S105).

[0031] 7, in the reaction gesture execution determination process, CPU 11 determines whether the detected external stimulus is included in group A (see FIG. 5) (step S201). If it is determined that the detected external stimulus is included in group A (step S201; YES), CPU 11 permits the execution of a reaction gesture in response to the external stimulus regardless of the gesture currently being executed (step S202).

[0032] In step S201, if it is determined that the detected external stimulus is not included in group A (step S201; NO), the CPU 11 determines whether or not the detected external stimulus is included in group B (see FIG. 5) (step S203). If it is determined that the detected external stimulus is included in group B (step S203; YES), the CPU 11 determines whether or not the gesture being performed is a breathing gesture or an automatically generated motion gesture (step S204). If it is determined that the gesture being performed is a breathing gesture or an automatically generated motion gesture (step S204; YES), the CPU 11 permits the execution of a reaction gesture in response to the external stimulus (step S205). If it is determined in step S204 that the gesture being performed is neither a breathing gesture nor an automatically generated motion gesture (step S204; NO), the CPU 11 disables the execution of a reaction gesture in response to the external stimulus (step S206).

[0033] If it is determined in step S203 that the detected external stimulus is not included in group B (step S203; NO), the CPU 11 determines that the detected external stimulus is included in group C (see FIG. 5) (step S207). Next, the CPU 11 determines whether the gesture being performed is a breathing gesture (step S208). If it is determined that the gesture being performed is a breathing gesture (step S208; YES), the CPU 11 permits the execution of a reaction gesture in response to the external stimulus (step S209). If it is determined in step S208 that the gesture being performed is not a breathing gesture (step S208; NO), the CPU 11 disables the execution of a reaction gesture in response to the external stimulus (step S210).

[0034] When any of steps S202, S205, S206, S209, and S210 is completed, the CPU 11 ends the reaction gesture execution determination process and returns the process to the motion control process of Fig. 6. After step S105, the CPU 11 determines whether or not to permit the execution of a reaction gesture in response to an external stimulus based on the result of the reaction gesture execution determination process (step S106). If it is determined that the execution of a reaction gesture in response to an external stimulus is permitted (step S106; YES), the CPU 11 cancels the gesture being executed by the robot 1 (step S107). After step S107, or if it is determined in step S104 that the robot 1 is not currently executing a gesture (step S104; NO), the CPU 11 causes the robot 1 to start executing a reaction gesture in response to an external stimulus (step S108). Here, the CPU 11 refers to the operation setting data 132 to identify the content of the reaction gesture in response to the external stimulus, and transmits a control signal to the drive unit 40 and the sound output unit 30 to cause the gesture.

[0035] If it is determined in step S103 that an external stimulus has not been detected (step S103; NO), the CPU 11 determines whether or not the execution condition for a spontaneous gesture is met (step S109). For example, the CPU 11 determines that the execution condition for a spontaneous gesture is met when a state without an external stimulus continues for a predetermined time. If it is determined that the execution condition for a spontaneous gesture is met (step S109; YES), the CPU 11 causes the robot 1 to start executing the spontaneous gesture (step S110). Here, the CPU 11 identifies the content of the spontaneous gesture with reference to the operation setting data 132, and transmits a control signal to the drive unit 40 and the sound output unit 30 to cause the robot 1 to perform the gesture. For example, the CPU 11 causes the robot 1 to perform a breathing gesture or an automatically generated motion gesture.

[0036] When either step S108 or S110 is completed, or when step S106 or step S109 branches to "NO," CPU 11 returns the process to step S102. When it is determined in step S102 that an operation to turn off the power has been performed (step S102; YES), the operation control process ends. Note that turning off the power may be included in group A as an external stimulus from the user.

[0037] As shown in FIG. 8 , in the absence of an external stimulus, the CPU 11 causes the robot 1 to perform a breathing gesture or an automatically generated motion gesture at regular intervals. In the example shown in FIG. 8 , the CPU 11 causes the robot 1 to start performing a breathing gesture at time t1 and end the breathing gesture at time t2. The breathing gesture from time t1 to time t2 shown in FIG. 8 corresponds to "one breath." The CPU 11 causes the robot 1 to start performing a breathing gesture at time t3 and end the breathing gesture at time t4 at regular intervals from time t2. The CPU 11 causes the robot 1 to start performing an automatically generated motion gesture at time t5 and end the automatically generated motion gesture at time t6 at regular intervals from time t4. The CPU 11 causes the robot 1 to start performing a breathing gesture at time t7 and end the breathing gesture at time t8 at regular intervals from time t6. The fixed interval between spontaneous gestures (breathing gestures, automatically generated motion gestures) may be dynamically changed depending on the state of charge, tiredness, etc. of the robot 1.

[0038] As shown in FIG. 9, an external stimulus may occur during the execution of a certain gesture. In the example shown in FIG. 9, the CPU 11 causes the robot 1 to start executing a breathing gesture at time t11, and then detects a "pat event" at time t12 while the breathing gesture is being executed. That is, the CPU 11 determines that the robot 1 has been stroked by a user based on the contact detection result of the touch sensor 51. Examples of the "pat event" include a horizontal body stroke, a hugging body stroke, a neck stroke, a horizontal head stroke, and a hugging head stroke. Here, (at time t12), the CPU 11 cancels the execution of the breathing gesture. Then, the CPU 11 causes the robot 1 to start executing a reaction gesture in response to the pat at time t13 and terminates the reaction gesture in response to the pat at time t14. After a certain interval from time t14, the CPU 11 causes the robot 1 to start executing an automatically generated motion gesture at time t15. The CPU 11 detected a "loud sound event" at time t16 while executing the automatically generated motion gesture. That is, the CPU 11 determined that a loud sound had occurred based on the result of detection by the microphone 55 of a sound with a volume greater than a predetermined value. At this point (time t16), the CPU 11 canceled the execution of the automatically generated motion gesture by the robot 1. Then, the CPU 11 caused the robot 1 to start executing a startled reaction gesture (a reaction gesture to a loud sound) at time t17, and ended the startled reaction gesture at time t18.

[0039] Even if an external stimulus occurs while the robot 1 is performing a certain gesture, the CPU 11 does not cause the robot 1 to perform a process (a reaction gesture) in response to the external stimulus depending on the relationship between the external stimulus and the gesture being performed. In this case, the CPU 11 completes the gesture being performed and disables the execution of the process in response to the external stimulus. In other words, the robot 1 behaves in the same way as if it had not received the external stimulus.

[0040] As described above, the robot control device 10 according to this embodiment includes a CPU 11 that controls the robot 1, and the robot 1 includes sensors (such as a touch sensor 51, an acceleration sensor 52, a gyro sensor 53, an illuminance sensor 54, and a microphone 55) that detect external stimuli. When causing the robot 1 to execute a process in response to the external stimuli, the CPU 11 does not cause the robot 1 to execute a process in response to the external stimuli depending on the type of gesture currently being performed by the robot 1. This allows the CPU 11 to prevent erroneous detection of external stimuli not intended by the user and to suppress the robot 1 from executing unnatural movements. This allows the robot 1 to respond appropriately to user operations.

[0041] For example, when the CPU 11 does not want the robot 1 to execute a process in response to an external stimulus, the CPU 11 disables the execution of the process in response to the external stimulus detected by a sensor (such as the sensor unit 50). This allows the CPU 11 to suppress unnatural reaction behavior by the robot 1.

[0042] Furthermore, the CPU 11 determines whether or not to cause the robot 1 to execute a process corresponding to the external stimulus based on the group to which the external stimulus belongs, thereby enabling the CPU 11 to easily distinguish between external stimuli intended by the user and external stimuli not intended by the user.

[0043] Furthermore, the CPU 11 causes the robot 1 to execute a process in response to the external stimulus when the gesture being performed by the robot 1 is a spontaneous gesture, and does not cause the robot 1 to execute a process in response to the external stimulus when the gesture being performed by the robot 1 is not a spontaneous gesture. While the robot 1 is executing a gesture that is not spontaneous, the amount of movement is relatively large, and there is a risk that the signals received from each sensor will be identified as a predetermined external stimulus due to the gesture of the robot 1 itself. Therefore, by not causing the robot 1 to execute a process in response to the external stimulus, the CPU 11 can prevent the robot 1 from making a reaction gesture that is not intended by the user. In particular, the CPU 11 determines whether or not to cause the robot 1 to execute a process in response to the external stimulus depending on whether the gesture being performed by the robot 1 is a breathing gesture, thereby preventing the robot 1 from performing an unnatural movement.

[0044] The robot 1 according to this embodiment is equipped with the robot control device 10 and various sensors (touch sensor 51, acceleration sensor 52, gyro sensor 53, illuminance sensor 54, and microphone 55). This prevents erroneous detection of an external stimulus not intended by the user, and enables the robot 1 to perform natural movements. The control method for the robot 1 according to this embodiment, or the CPU 11 executes processing in accordance with the program 131 according to this embodiment, prevents erroneous detection of an external stimulus not intended by the user, and prevents the robot 1 from performing unnatural movements.

[0045] The present invention is not limited to the above embodiment, and various modifications are possible. In the above embodiment, as an example of the CPU 11 not causing the robot 1 to perform a process in response to an external stimulus based on the type of gesture being performed by the robot 1, a case has been described in which the CPU 11 disables the execution of a process (a reaction gesture) in response to an external stimulus detected by a sensor (such as the sensor unit 50). Alternatively, the CPU 11 may prevent the robot 1 from performing a process in response to the external stimulus by stopping the detection of the external stimulus by the sensor (such as the sensor unit 50). This allows the CPU 11 to suppress unnatural reaction gestures by the robot 1. Furthermore, the CPU 11 may prevent the robot 1 from performing a process in response to the external stimulus by reducing the sensitivity of the sensor (such as the sensor unit 50) for detecting the external stimulus. Reducing the sensitivity of the detection of the external stimulus includes, for example, changing a threshold value for detecting the external stimulus. This allows the CPU 11 to suppress unnatural reaction gestures by the robot 1.

[0046] Furthermore, emotion parameters relating to the emotions of the robot 1, personality parameters relating to the personality, or growth parameters relating to the growth of the robot 1 may be stored in the storage unit 13 and successively updated, and the robot 1 may be operated according to the values ​​of these emotion parameters, personality parameters, or growth parameters. For example, the method described in JP 2022-142107 A may be used to control the operation of the robot 1 according to each parameter.

[0047] Furthermore, the configuration of the robot 1 is not limited to the examples shown in Figures 1 to 3. For example, the robot may be a robot that imitates a real creature such as a person, animal, bird, or fish, a robot that imitates a non-existent creature such as a dinosaur, or a robot that imitates a fictional creature.

[0048] Furthermore, in the above embodiment, an example has been described in which the robot control device 10 that controls the robot 1 is provided inside the robot 1, but this is not limiting, and the robot 1 may operate under the control of a robot control device provided external to the robot 1. The external robot control device may be, for example, a smartphone, a tablet terminal, or a laptop PC. In this case, the robot 1 operates in accordance with a control signal received from the external robot control device via the communication unit 60. The external robot control device performs the functions that were performed by the robot control device 10 in the above embodiment.

[0049] In the above description, an example has been disclosed in which a nonvolatile memory of the storage unit 13 is used as a computer-readable medium for the program according to the present invention, but the present invention is not limited to this example. Other computer-readable media may be information recording media such as a hard disk drive (HDD), a solid state drive (SSD), or a CD-ROM. Furthermore, a carrier wave may also be used as a medium for providing data for the program according to the present invention via a communication line.

[0050] Furthermore, it goes without saying that the detailed configuration and detailed operation of each component of the robot 1 in the above embodiment can be appropriately modified without departing from the spirit of the present invention. Although the embodiments of the present invention have been described above, the scope of the present invention is not limited to the above-described embodiments, but includes the scope of the invention set forth in the claims and their equivalents. [Explanation of symbols]

[0051] 1... robot, 10... robot control device, 11... CPU (control unit), 50... sensor unit (sensor)

Claims

1. A robot control device for controlling a robot equipped with a sensor for detecting an external stimulus, A robot control device comprising: a control unit that, when causing the robot to execute processing in response to the external stimulus, disables execution of the processing in response to the external stimulus detected by the sensor, stops detection of the external stimulus by the sensor, or reduces the sensitivity of detection of the external stimulus by the sensor, based on the type of gesture being performed by the robot.

2. the control unit determines whether to cause the robot to execute a process corresponding to the external stimulus based on a group to which the external stimulus belongs. The robot control device according to claim 1 .

3. the control unit causes the robot to perform a spontaneous gesture that is not triggered by the external stimulus when a predetermined condition is satisfied; the control unit causes the robot to execute a process in response to the external stimulus when the gesture being performed by the robot is the spontaneous gesture, and does not cause the robot to execute a process in response to the external stimulus when the gesture being performed by the robot is not the spontaneous gesture; The robot control device according to claim 1 .

4. The spontaneous gesture is a gesture that mimics breathing. The robot control device according to claim 3 .

5. The robot control device according to any one of claims 1 to 4; the sensor; A robot equipped with:

6. A method for controlling a robot equipped with a sensor that detects an external stimulus, comprising: A robot control method in which, when causing the robot to execute processing in response to the external stimulus, the execution of the processing in response to the external stimulus detected by the sensor is disabled, detection of the external stimulus by the sensor is stopped, or the sensitivity of detection of the external stimulus by the sensor is reduced, based on the type of gesture being performed by the robot.

7. A computer of a robot control device that controls a robot equipped with a sensor that detects external stimuli, A program for causing the robot to execute processing in response to the external stimulus, which functions as a control unit that disables the execution of processing in response to the external stimulus detected by the sensor, stops the sensor from detecting the external stimulus, or reduces the sensitivity of the sensor to detecting the external stimulus, based on the type of gesture being performed by the robot, when the robot executes processing in response to the external stimulus.

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