Control device, control method, and program

Abstract

To provide a control device, a control method, and a program capable of improving lifelikeness. [Solution] Parameter update unit 113 updates emotion parameter 122, which indicates a simulated emotion, based on a simulated biorhythm having three elements with different cycles. Operation control unit 112 operates a device based on emotion parameter 122 updated by parameter update unit 113. Emotion parameter 122 is represented by coordinate values ​​on a positioning map having at least a first coordinate axis and a second coordinate axis. Parameter update unit 113 updates the component of emotion parameter 122 on the first coordinate axis based on a first element and a second element of the three elements, and updates the component of emotion parameter 122 on the second coordinate axis based on a first element and a third element of the three elements.

Description

[Technical Field]

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

[0002] There are known techniques for controlling devices that mimic living creatures such as pets. For example, Patent Document 1 discloses a robot device that determines internal emotions based on past operation history, dialogue history, favorability rating, intimacy level, etc., and behaves in accordance with the internal emotions. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-117866 Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology for making devices that mimic living creatures express pseudo-emotions, there is a demand for further improving the lifelikeness of the devices to be controlled.

[0005] The present invention is made to solve the above-mentioned problems, and aims to provide a control device, a control method, and a program that can improve the lifelikeness of an object. [Means for solving the problem]

[0006] In order to achieve the above object, one aspect of a control device according to the present invention is a control device for controlling a device, comprising: parameter update means for updating an emotion parameter indicating a simulated emotion based on a simulated biorhythm having three elements with different cycles; and operation control means for operating the device based on the emotion parameter updated by the parameter update means, wherein the emotion parameter is represented by coordinate values ​​on a positioning map having at least a first coordinate axis and a second coordinate axis, and the parameter update means updates a component of the emotion parameter on the first coordinate axis based on a first element and a second element of the three elements, and updates a component of the emotion parameter on the second coordinate axis based on the first element and a third element of the three elements. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide a control device, a control method, and a program that can improve the lifelikeness of a living thing. [Brief explanation of the drawings]

[0008] [Figure 1] This figure shows the external appearance of the robot according to Embodiment 1. [Figure 2] This is a cross-sectional view of the robot according to Embodiment 1, seen from the side. [Figure 3] This is a block diagram showing the functional configuration of the robot according to Embodiment 1. [Figure 4] This figure shows an example of an event table according to Embodiment 1. [Figure 5] This figure shows an example of an emotion map according to Embodiment 1. [Figure 6] This figure shows an example of how emotion parameters move in response to events on an emotion map according to Embodiment 1. [Figure 7] This figure shows an example where the emotion parameter returns to the origin on the emotion map according to Embodiment 1. [Figure 8]FIG. 3 is a diagram showing an example of time fluctuation of each element of biorhythm in the robot according to the first embodiment. [Figure 9] FIG. 3 is a diagram showing an example of the cycles of each element of a biorhythm in the robot according to the first embodiment. [Figure 10] FIG. 4 is a diagram showing an example of time fluctuations of the X-axis component and the Y-axis component of a fluctuation vector due to biorhythms in an emotion parameter according to the first embodiment. [Figure 11] FIG. 4 is a diagram showing an example of how emotion parameters fluctuate based on biorhythms on an emotion map according to the first embodiment. [Figure 12] 4 is a flowchart showing the flow of a robot control process according to the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Embodiments of the present invention will be described below with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals. The robot 200 according to Embodiment 1 is a device that simulates a living creature and is capable of simulating various states of living creatures. In particular, the robot 200 according to Embodiment 1 is a pet-type robot that has simulated emotions and operates based on those simulated emotions.

[0010] As an example, as shown in Figure 1, the robot 200 according to Embodiment 1 is a pet robot that imitates a small animal. The robot 200 has an exterior 201 having decorative parts 202 that resemble eyes and fluffy fur 203. As shown in Figure 2, the robot 200 has a housing 207. The housing 207 is covered by the exterior 201 and is housed inside the exterior 201. The housing 207 comprises a head 204, a connecting part 205, and a body part 206. The connecting part 205 connects the head 204 and the body part 206.

[0011] The exterior 201 is an example of an exterior component, and is long in the front-to-back direction and has a bag-like shape that can accommodate the housing 207 inside. The exterior 201 is formed in a cylindrical shape from the head 204 to the torso 206, and integrally covers the torso 206 and the head 204. By having an exterior 201 of this shape, the robot 200 is formed in a prone position. The outer surface of the exterior 201 is made of an artificial pile fabric that mimics the fur 203 of a small animal in order to simulate the feel of a small animal's skin. The lining of the exterior 201 is made of a flexible material such as leather, resin, or rubber. Because it is made of a flexible material, the exterior 201 follows the movement of the housing 207. Specifically, the exterior 201 follows the rotation of the head 204 relative to the torso 206.

[0012] The torso 206 extends in the front-to-back direction and contacts the floor, table, or other mounting surface on which the robot 200 is placed via the outer casing 201. The torso 206 is equipped with a twist motor 221 at its front end. The head 204 is connected to the front end of the torso 206 via a connecting part 205. The connecting part 205 is equipped with an up-and-down motor 222. In Figure 2, the twist motor 221 is located on the torso 206, but it may also be located on the connecting part 205. The twist motor 221 and the up-and-down motor 222 allow the head 204 to rotate relative to the torso 206 around the left-to-right direction (X-axis direction) and the front-to-back direction (Y-axis direction) of the robot 200.

[0013] The connecting section 205 connects the body section 206 and the head section 204 so as to be rotatable about a first rotation axis that passes through the connecting section 205 and extends in the front-to-back direction (Y-axis direction) of the body section 206. The twist motor 221 is a servo motor for rotating the head section 204 clockwise (right-hand rotation) or counterclockwise (left-hand rotation) around the first rotation axis relative to the body section 206. The connecting section 205 also connects the body section 206 and the head section 204 so as to be rotatable about a second rotation axis that passes through the connecting section 205 and extends in the left-to-right direction (X-axis direction) of the body section 206. The up-down motor 222 is a servo motor for rotating the head section 204 upward (forward rotation) or downward (reverse rotation) around the second rotation axis.

[0014] Robot 200 is equipped with touch sensors 211 on its head 204 and torso 206. Furthermore, the torso 206 of robot 200 is equipped with an accelerometer 212, a microphone 213, a gyro sensor 214, an illuminance sensor 215, a speaker 231, a battery 250, and a communication unit 260. Note that at least some of the accelerometer 212, microphone 213, gyro sensor 214, illuminance sensor 215, and speaker 231 may be located on the head 204, or on both the torso 206 and the head 204.

[0015] Next, the functional configuration of the robot 200 will be described with reference to Figure 3. As shown in Figure 3, the robot 200 comprises a control unit 100, a sensor unit 210, a drive unit 220, an output unit 230, and an operation unit 240. These units are connected, for example, via a bus line BL. Alternatively, a wired interface such as a USB (Universal Serial Bus) cable or a wireless interface such as Bluetooth® may be used instead of the bus line BL.

[0016] The control device 100 comprises a control unit 110 and a storage unit 120. The control device 100 is an example of a control device that controls a robot 200, which is the device to be controlled. The control device 100 controls the operation of the robot 200 through the control unit 110 and the storage unit 120. The control unit 110 comprises a CPU (Central Processing Unit). The CPU is, for example, a microprocessor and is a central processing unit that performs various processes and calculations. In the control unit 110, the CPU reads the control program stored in ROM and controls the operation of the entire device (robot 200) using RAM as work memory. Although not shown in the figures, the control unit 110 also has a clock function, a timer function, etc., and can measure the date and time. The control unit 110 may also be called a "processor".

[0017] The memory unit 120 includes ROM (Read Only Memory), RAM (Random Access Memory), flash memory, etc. The memory unit 120 stores programs and data used by the control unit 110 to perform various processes, including the OS (Operating System) and application programs. The memory unit 120 also stores data generated or acquired by the control unit 110 through various processes. Specifically, the memory unit 120 stores an event table 121, emotion parameters 122, and an emotion map 300. Details of these will be described later.

[0018] The sensor unit 210 includes the aforementioned touch sensor 211, acceleration sensor 212, microphone 213, gyro sensor 214, and illuminance sensor 215. The control unit 110 acquires the detection values ​​detected by the various sensors in the sensor unit 210 via the bus line BL. The sensor unit 210 may also include other sensors. By increasing the types of sensors in the sensor unit 210, the types of external stimuli that the control unit 110 can acquire can be increased. The sensor unit 210 is an example of an external stimulus detection means for detecting external stimuli.

[0019] The touch sensor 211 includes, for example, a pressure sensor or a capacitance sensor, and detects the presence or absence of contact with some object and the strength of the contact. Based on the detection value of the touch sensor 211, the control unit 110 can detect that the user has stroked or hit the head 204 or the torso 206. The acceleration sensor 212 detects the acceleration applied to the torso 206 of the robot 200. The gyro sensor 214 detects the angular velocity applied to the torso 206 of the robot 200. The control unit 110 can detect the current posture and changes in posture of the robot 200 using the acceleration sensor 212 and the gyro sensor 214. Furthermore, the control unit 110 can detect that the user has lifted the robot 200, changed the direction of the robot 200, or thrown the robot 200 using the acceleration sensor 212 and the gyro sensor 214.

[0020] The microphone 213 detects sounds around the robot 200. For example, the control unit 110 detects human voice, such as a user speaking to the robot 200, based on the sound components detected by the microphone 213. The control unit 110 also detects sounds other than human voice, based on the sound components detected by the microphone 213. Examples of sounds other than human voice include the sound of a user clapping their hands, environmental sounds generated around the robot 200, and sudden sounds. The illuminance sensor 215 detects the illuminance around the robot 200. The control unit 110 can detect whether the area around the robot 200 has become brighter or darker based on the illuminance detected by the illuminance sensor 215.

[0021] The drive unit 220 includes the twist motor 221 and the up-down motor 222 described above, and is driven by the control unit 110. The robot 200 can express the action of twisting the head 204 sideways by the twist motor 221, and the action of raising and lowering the head 204 by the up-down motor 222. The output unit 230 includes a speaker 231, and when the control unit 110 inputs sound data to the output unit 230, sound is output from the speaker 231. For example, when the control unit 110 inputs data of the cry of the robot 200 to the output unit 230, the robot 200 emits a pseudo cry. Note that the output unit 230 may include a display, an LED (Light Emitting Diode), etc. instead of or in addition to the speaker 231. The operation unit 240 includes operation buttons, a volume knob, etc. The operation unit 240 is an interface for receiving user operations such as turning on / off the power supply, adjusting the volume of the output sound, etc. The battery 250 stores the power used by the robot 200. When the robot 200 returns to the charging station, the battery 250 is charged by the charging station.

[0022] Next, a description will be given of the functional configuration of the control unit 110. As shown in Fig. 3, the control unit 110 functionally includes an event determination unit 111 which is an example of an event determination means, an operation control unit 112 which is an example of an operation control means, and a parameter update unit 113 which is an example of a parameter update means. In the control unit 110, the CPU reads a program stored in the ROM into the RAM, and executes and controls the program, thereby functioning as each of these units.

[0023] The event determination unit 111 determines whether or not an event has occurred based on an external stimulus detected by the sensor unit 210. Here, the external stimulus is a stimulus acting on the robot 200 from outside the robot 200. Specifically, the external stimulus is a contact detected by the touch sensor 211, an acceleration detected by the acceleration sensor 212, a sound detected by the microphone 213, an angular velocity detected by the gyro sensor 214, an illuminance detected by the illuminance sensor 215, or a combination thereof.

[0024] The event determination unit 111 determines whether or not one of the multiple events defined in the event table 121 has occurred, based on the detection values ​​of the touch sensor 211, acceleration sensor 212, microphone 213, gyro sensor 214, and illuminance sensor 215 in the sensor unit 210. The event table 121 is a table that defines multiple events that may occur in the robot 200, and the conditions for each event to occur. As an example, as shown in Figure 4, the event table 121 defines events such as "a loud noise was made," "someone spoke to it," "it was petted," "it was hit," and "it was turned over."

[0025] The event determination unit 111 refers to the event table 121 and determines whether the detection value of the external stimulus by the sensor unit 210 satisfies the occurrence condition of any of the events. For example, when the microphone 213 detects a sound having a peak value equal to or greater than a first threshold TH1, the event determination unit 111 determines that the event "a loud noise was heard" has occurred. When the microphone 213 detects a sound having a peak value less than the first threshold TH1 and equal to or greater than a second threshold TH2, the event determination unit 111 determines that the event "someone spoke to me" has occurred. When the touch sensor 211 of the head 204 or the torso 206 detects a contact of less than a predetermined strength S1, the event determination unit 111 determines that the event "someone stroked me" has occurred. When the touch sensor 211 of the head 204 or the torso 206 detects a contact of greater than or equal to a predetermined strength S1, the event determination unit 111 determines that the event "someone hit me" has occurred. Note that the occurrence conditions of other events are omitted from the event table 121 of FIG. 4.

[0026] The occurrence condition is not limited to the detection value of a single sensor, and may be determined by combining detection values ​​of multiple sensors in the sensor unit 210. For example, "being stroked on the head while in a horizontal position" is determined by the detection values ​​of the touch sensor 211, the acceleration sensor 212, and the gyro sensor 214 of the head 204. In this way, the event determination unit 111 determines whether or not the occurrence condition of any of the events defined in the event table 121 is met, based on the external stimulus detected by the sensor unit 210, and determines that the event has occurred if the occurrence condition of any of the events is met.

[0027] The motion control unit 112 controls the movement of the robot 200. Here, the movement of the robot 200 is realized by either or both of the motion by the drive unit 220 and the output by the output unit 230. Specifically, the motion by the drive unit 220 corresponds to rotating the head 204 by driving the twist motor 221 or the up / down motor 222. The output by the output unit 230 corresponds to outputting a sound from the speaker 231 or illuminating the LED. The movement of the robot 200 may also be called the robot 200's gestures, behavior, etc.

[0028] When the motion control unit 112 detects an external stimulus by the sensor unit 210, it causes the robot 200 to act in accordance with the detected external stimulus. More specifically, when the event determination unit 111 determines that any event has occurred, the motion control unit 112 causes the robot 200 to perform an event action corresponding to the event that occurred. For example, if "a loud noise was heard," the motion control unit 112 causes the robot 200 to perform a surprised action. If "someone spoke to it," the motion control unit 112 causes the robot 200 to perform an action in response to the speaking. If "it was turned inside out," the motion control unit 112 causes the robot 200 to perform an action showing an unpleasant reaction. If "it was petted," the motion control unit 112 causes the robot 200 to perform a happy action. If "it was hit," the motion control unit 112 causes the robot 200 to perform a sad action.

[0029] The correspondence between events and event actions is not shown in the diagram, but is pre-stored in the memory unit 120 as an action table. The action table defines the amount and direction of rotation by the twist motor 221, the amount and direction of rotation by the up and down motor 222, and the type of sound to be output from the speaker 231 and its output volume for each event. The action control unit 112 refers to the action table and causes the robot 200 to execute the event action corresponding to the occurring event.

[0030] When the event determination unit 111 determines that no event has occurred, the movement control unit 112 causes the robot 200 to perform a spontaneous movement (spontaneous movement), for example, once every few seconds. Here, the spontaneous movement means a movement that the robot 200 performs spontaneously without depending on an external stimulus or an event. The movement control unit 112 causes the robot 200 to perform a breathing movement that simulates breathing as the spontaneous movement. Alternatively, the spontaneous movement is not limited to a breathing movement, and the movement control unit 112 may randomly drive the twist motor 221 or the up / down motor 222, or may output a random cry from the speaker 231.

[0031] Returning to FIG. 3 , the parameter update unit 113 updates the emotion parameter 122. The emotion parameter 122 is a parameter indicating the simulated emotion of the robot 200. The emotion parameter 122 is set to express the degree of expression of the simulated emotion in the robot 200 so that the robot 200 can mimic the movements of a living creature. The robot 200 behaves in accordance with the emotion parameter 122.

[0032] More specifically, the emotion parameters 122 are represented by positions on a positioning map having at least two coordinate axes. A positioning map is a map that represents positions using coordinate values ​​along at least two coordinate axes, such as (X, Y) and (X, Y, Z). The following description uses emotion map 300 shown in FIG. 5 as an example of a positioning map.

[0033] As an example, emotion map 300 is represented by a two-dimensional coordinate system as shown in Fig. 5, with an X-axis being the first coordinate axis representing a pseudo-security level and a Y-axis being the second coordinate axis representing a pseudo-activity level. The larger the absolute value of the positive X-coordinate value (X value), the higher the security level, and the larger the absolute value of the positive Y-coordinate value (Y value), the higher the excitement level. Furthermore, the larger the absolute value of the negative X value, the higher the anxiety level, and the larger the absolute value of the negative Y value, the higher the lethargy level.

[0034] The emotion parameter 122 is represented by coordinate values ​​(X,Y), which are its position on the emotion map 300, using X values ​​representing the degree of security and anxiety, and Y values ​​representing the degree of excitement and apathy. For example, if both X and Y values ​​are large and positive, the emotion parameter 122 represents the emotion of "joy". If X is large and negative, and Y is large and positive, the emotion parameter 122 represents the emotion of "irritation". If both X and Y values ​​are large and negative, the emotion parameter 122 represents the emotion of "sadness". If X is large and negative, and Y is large and negative, the emotion parameter 122 represents the emotion of "peace". The origin (0,0) on the emotion map 300 represents the normal emotion. The initial value of the emotion parameter 122 is the origin (0,0). The parameter update unit 113 updates the emotion parameter 122 by moving its position on the emotion map 300.

[0035] More specifically, the parameter update unit 113 updates the emotion parameter 122 in response to external stimuli detected by the sensor unit 210. To explain in more detail, if the event determination unit 111 determines that one of the events defined in the event table 121 has occurred based on the external stimuli detected by the sensor unit 210, the parameter update unit 113 moves the position of the emotion parameter 122 on the emotion map 300 according to the type of event that occurred.

[0036] For example, if the event determination unit 111 determines that the event "someone spoke to you" has occurred, the parameter update unit 113 moves the emotion parameter 122 to the upper right on the emotion map 300, as shown in Figure 6. This increases the emotion of joy. Alternatively, although not shown in the illustration, if the event determination unit 111 determines that the event "a loud noise occurred" has occurred, the parameter update unit 113 moves the emotion parameter 122 to the left on the emotion map 300. This increases the emotion of anxiety.

[0037] Event table 121 shown in Fig. 4 defines a movement vector (dX, dY) of emotion parameter 122 on emotion map 300 for each of a plurality of events that may occur. dX and dY represent the amount of movement of emotion parameter 122 in the X-axis and Y-axis directions of emotion map 300, respectively. When event determination section 111 determines that any event has occurred, parameter update section 113 reads out movement vector dX, dY corresponding to that event from event table 121. Parameter update section 113 then moves the position of emotion parameter 122 on emotion map 300 in accordance with the read movement vector (dX, dY).

[0038] More specifically, parameter update section 113 moves the position of emotion parameter 122 on emotion map 300 to coordinate values ​​(Xnext, Ynext) obtained by adding a movement vector (dX, dY) to the current coordinate values ​​(Xcur, Ycur) of emotion parameter 122, according to the following equation (1). In this way, when an event based on an external stimulus occurs, parameter update section 113 updates emotion parameter 122 in accordance with the event that has occurred. This makes it possible to realistically represent the changes in emotion that would be seen when an actual living thing experiences various events. (Xnext,Ynext) = (Xcur,Ycur)+(dX,dY) …(1)

[0039] In addition to updating emotion parameters 122 in response to events in this way, parameter update section 113 also updates emotion parameters 122 over time, even when no event has occurred. Specifically, every time a predetermined time Δt has passed, parameter update section 113 calculates destination coordinate values ​​(Xnext, Ynext) from current coordinate values ​​(Xcur, Ycur) according to equation (2) below. Parameter update section 113 then moves the position of emotion parameters 122 on emotion map 300 to the position of the calculated destination coordinate values ​​(Xnext, Ynext). Predetermined time Δt is a predetermined time, such as one minute or 30 seconds. (Xnext,Ynext) = (Xcur,Ycur)+{(Txcur,Tycur)-(Txpre,Typre)} …(2)

[0040] In equation (2) above, (Txcur, Tycur) represents the change vector (Tx, Ty) of the emotion parameter 122 over time at the current timing. Also, (Txpre, Typre) represents the change vector (Tx, Ty) of the emotion parameter 122 over time at a predetermined time Δt prior to the present. The parameter update unit 113 calculates the change vector (Tx, Ty) at predetermined time intervals Δt according to equation (3) below. (Tx,Ty) = (Bx,By)+H×(Cx,Cy) …(3)

[0041] In equation (3) above, (Bx,By) represents the origin regression vector that reverts the emotion parameter 122 to the origin (0,0), which is the reference position on the emotion map 300. The origin regression vector (Bx,By) plays the role of gradually reverting the emotion parameter 122 to the origin (0,0) over time after it has moved to a position other than the origin on the emotion map 300 due to the occurrence of an event. Specifically, if the current coordinate value (Xcur,Ycur) of the emotion parameter 122 is not the origin (0,0), the origin regression vector (Bx,By) will be a vector proportional to (-Xcur,-Ycur). Conversely, if the current coordinate value (Xcur,Ycur) of the emotion parameter 122 is the origin (0,0), the origin regression vector (Bx,By) will be (0,0), that is, the 0 vector.

[0042] As an example, Figure 7 shows the movement of the emotion parameter 122 after the event "was spoken to". The emotion parameter 122 moves from the origin (0,0) to the upper right in response to the "was spoken to" event, and then gradually moves towards the origin (0,0) by the origin regression vector (Bx,By) until the next event occurs, returning to the origin (0,0). Using this origin regression vector (Bx,By), the parameter update unit 113 updates the emotion parameter 122 in response to the event, and then, until the next event occurs, moves the position of the emotion parameter 122 on the emotion map 300 closer to the reference position, the origin (0,0), as time progresses. This causes the robot 200's simulated emotions to gradually return to a normal state when no events are occurring.

[0043] Next, in equation (3) above, (Cx,Cy) represents the fluctuation vector of the emotion parameter 122 due to biorhythms. Here, biorhythms refer to the rhythms observed in the physical and mental state of living things, i.e., periodic fluctuation patterns. The fluctuation vector (Cx,Cy) is a term that allows the emotion parameter 122 to fluctuate even when no event is occurring. If the term fluctuation vector (Cx,Cy) were not present in equation (3) above, the emotion parameter 122 would not move at all from the origin (0,0) when no event is occurring. In other words, if a user leaves the robot 200 alone for a long time without interacting with it, the emotion parameter 122 would not change at all during that time. This is unnatural for a real living thing and leads to a decrease in its lifelikeness.

[0044] To avoid this, the parameter update unit 113 simulates the biorhythms observed in real living organisms in the robot 200 and updates the emotion parameter 122 based on this simulated biorhythm (hereinafter simply referred to as "biorhythm"). Specifically, the parameter update unit 113 introduces a fluctuation vector (Cx, Cy) based on the biorhythm, causing the emotion parameter 122 to fluctuate over time even when no event is occurring. This simulates the natural emotions of real living organisms, enhancing the robot's lifelikeness.

[0045] The following provides a more detailed explanation of biorhythms. Biorhythms consist of three elements (which can also be called "components"), each being a periodic pattern with a different period. The first element of biorhythms is the intellectual element (intellectual rhythm). The second element of biorhythms is the sensitive element (emotional rhythm). The third element of biorhythms is the physical element (physical rhythm).

[0046] As shown in Figure 8, the time variation patterns of each element of the biorhythm are represented as sine waves. In Figure 8, the horizontal axis shows the elapsed time t from the time when robot 200 was activated, and the vertical axis shows the values ​​of the three elements of the biorhythm: the intellectual rhythm (solid line), the emotional rhythm (dotted line), and the physical rhythm (dashed line). More specifically, the values ​​of the three elements of the biorhythm are expressed using the trigonometric function sin() as shown in equations (4A) to (4C) below. In equations (4A) to (4C), T1 to T3 represent the period of each element, and φ1 to φ3 represent the initial phase values ​​of each element. Intellectual rhythm (first element): I(t) = sin(2πt / T1+φ1) …(4A) Emotional rhythm (second element): S(t) = sin(2πt / T2+φ2) …(4B) Body rhythm (third element): P(t) = sin(2πt / T3+φ3) …(4C)

[0047] The periods T1 to T3 of the sine waves of the three biorhythm components I(t), S(t), and P(t) are set to be different from one another. Specifically, the period T1 of the first component I(t), which is the intellectual rhythm, is longer than the period T2 of the second component S(t), which is the emotional rhythm, and is also longer than the period T3 of the third component P(t), which is the physical rhythm. Furthermore, the period T2 of the second component S(t) is longer than the period T3 of the third component P(t).

[0048] More specifically, as shown in FIG. 9 , it is known that human intellectual rhythms, emotional rhythms, and physical rhythms generally fluctuate periodically, with a 33-day cycle, a 28-day cycle, and a 23-day cycle, respectively. Taking this into consideration, values ​​obtained by converting the cycles of a human's biorhythm into the battery life of the robot 200 are used as the cycles T1 to T3 of the robot 200's biorhythm. Specifically, assuming that the average human lifespan is 70 years and the average battery life of the robot 200 is 2 years, the cycles of each element of the biorhythm of the robot 200 are calculated as 23 hours, 19 hours, and 16 hours by multiplying the cycle of each element of the human's biorhythm by "2 / 70." Therefore, the parameter update unit 113 sets the cycles T1 to T3 of the robot 200's intellectual rhythm, emotional rhythm, and physical rhythm to 23 hours, 19 hours, and 16 hours, respectively.

[0049] Parameter update section 113 updates emotion parameter 122 based on the three biorhythm elements I(t), S(t), and P(t), which are periodic patterns that fluctuate with mutually different cycles T1 to T3. Specifically, parameter update section 113 updates the component of emotion parameter 122 on the first coordinate axis of emotion map 300 (X-axis component) based on the first element I(t) and second element S(t) of the three biorhythm elements. At the same time, parameter update section 113 updates the component of emotion parameter 122 on the second coordinate axis of emotion map 300 (Y-axis component) based on the first element I(t) and third element P(t) of the three biorhythm elements.

[0050] More specifically, parameter update unit 113 calculates the fluctuation vector (Cx, Cy) due to biorhythm according to the following equation (5). Specifically, parameter update unit 113 calculates the X-axis component Cx of the fluctuation vector by multiplying the first element I(t) by the second element S(t), and calculates the Y-axis component Cy of the fluctuation vector by multiplying the first element I(t) by the third element P(t). Note that K in equation (5) is the maximum absolute value of Cx and Cy. The value of K is fixed at 100, for example. (Cx,Cy) = (S(t)×I(t)×K,P(t)×I(t)×K) …(5)

[0051] The X-axis component Cx of the fluctuation vector is calculated by multiplying the first element I(t) of cycle T1 by the second element S(t) of cycle T2, resulting in a pattern in which a long-period pattern of cycle (T1+T2) is superimposed on a short-period pattern of cycle (T1-T2). The X-axis component Cy of the fluctuation vector is calculated by multiplying the first element I(t) of cycle T1 by the third element P(t) of cycle T3, resulting in a pattern in which a long-period pattern of cycle (T1+T3) is superimposed on a short-period pattern of cycle (T1-T3). In this way, parameter update unit 113 calculates each component of the fluctuation vector (Cx, Cy) by multiplying two elements that fluctuate at different cycles, thereby creating a complex pattern while still maintaining periodicity. Specifically, if the time fluctuation of the fluctuation vector (Cx, Cy) due to biorhythms is represented on emotion map 300, it will look like the one shown in FIG. 10, resulting in complex movements that are difficult to predict.

[0052] Due to such a variation vector (Cx, Cy) due to biorhythms, emotion parameters 122 move in a fluctuating manner around the origin (0, 0) on emotion map 300 when no event has occurred, as shown in FIG. 11. If there were no variation vector (Cx, Cy) due to biorhythms, emotion parameters 122 would not change at all unless an event occurred, leading to a decrease in the lifelikeness of the emotion parameters. In contrast, in embodiment 1, as shown in equation (3) above, a term for the variation vector (Cx, Cy) due to biorhythms is added to the variation vector (Tx, Ty) of emotion parameters 122. As a result, emotion parameters 122 fluctuate over time, as shown in FIG. 11, making it possible to realistically simulate the natural emotional changes of a living creature.

[0053] The parameter update unit 113 randomly sets the initial values ​​φ1 to φ3 of the phases of the three elements of the biorhythm shown in the above formulas (4A) to (4C) every time the robot 200 is started up. Here, the initial value of the phase of each element corresponds to the starting position of the variation of the sine wave pattern of each element when the robot 200 is started up. Furthermore, starting up the robot 200 means that the robot 200 starts operating normally, for example, when the robot 200 is powered on.

[0054] If the initial phase values ​​φ1 to φ3 were set to the same every time the robot 200 was activated, the movement of the emotion parameter 122 at activation would be the same every time, which would lead to a feeling of repetition to the user. To avoid this, the parameter update unit 113 randomly sets each of the initial phase values ​​φ1 to φ3 using random numbers every time the robot 200 was activated. As a result, as shown in FIG. 8 for example, the values ​​of the elements of the biorhythm start to fluctuate periodically with different initial values ​​from the timing of activation of the robot 200. Furthermore, each element of the biorhythm starts with a different value every time the robot 200 is activated. This makes it more difficult to predict the behavior of the robot 200, thereby further improving the lifelikeness of the robot 200.

[0055] Returning to equation (3) above, coefficient H in equation (3) is a coefficient by which the variation vector (Cx, Cy) due to biorhythm is multiplied. Coefficient H is set so as to gradually increase over time when no event based on an external stimulus has occurred in robot 200. By using such coefficient H, parameter update unit 113 increases the amount of variation in emotion parameter 122 based on biorhythm over time when no event has occurred.

[0056] Specifically, while the event determination unit 111 determines that none of the events defined in the event table 121 has occurred, the parameter update unit 113 increases the value of the coefficient H by 0.1 every minute from the initial value of 0.1 to the maximum value of 1. Furthermore, when the event determination unit 111 determines that any of the events defined in the event table 121 has occurred, the parameter update unit 113 returns the value of the coefficient H to the initial value of 0.1.

[0057] In this way, parameter update unit 113 gradually increases coefficient H, by which biorhythm-induced fluctuation vector (Cx, Cy) is multiplied, over time from the occurrence of the last event to the occurrence of the next event. As a result, when the user leaves robot 200 alone, the amount of fluctuation in both the X-axis component and the Y-axis component of emotion parameter 122 gradually increases over time as the time period increases, and emotion parameter 122 gradually fluctuates more greatly on emotion map 300. This movement of emotion parameter 122 makes it possible to more realistically represent the natural emotional changes that living creatures experience, such as increasing feelings of loneliness and boredom when left alone.

[0058] In this way, after calculating the origin regression vector (Bx,By), the biorhythm-dependent fluctuation vector (Cx,Cy), and the coefficient H, the parameter update unit 113 calculates the change vector (Tx,Ty) according to equation (3) above. After calculating the change vector (Tx,Ty), the parameter update unit 113 sets the newly calculated change vector (Tx,Ty) as (Txcur,Tycur) and the change vector (Tx,Ty) calculated a predetermined time Δt ago as (Txpre,Typre), and calculates the difference between the two. Then, according to equation (2) above, the parameter update unit 113 calculates the destination coordinate values ​​(Xnext,Ynext) by adding the calculated difference to the current coordinate values ​​(Xcur,Ycur), and moves the position of the emotion parameter 122 to the destination coordinate values ​​(Xnext,Ynext).

[0059] As described above, when the parameter update unit 113 updates the emotion parameter 122 according to equation (1) or equation (2), the motion control unit 112 causes the robot 200 to act based on the emotion parameter 122 updated by the parameter update unit 113. For example, if the emotion parameter 122 represents "joy", the motion control unit 112 causes the robot 200 to perform a motion that appears to be joyful using the drive unit 220, and if the emotion parameter 122 represents "sadness", the drive unit 220 causes the robot 200 to perform a motion that appears to be sad. Alternatively, if the emotion parameter 122 represents "joy", the motion control unit 112 outputs a cry that sounds like joy from the output unit 230, and if the emotion parameter 122 represents "sadness", the output unit 230 outputs a cry that sounds like sadness.

[0060] More specifically, the motion control unit 112 causes the robot 200 to perform an emotional action corresponding to the current position of the emotional parameter 122 on the emotional map 300. For example, the emotional map 300 is divided into N x N areas. Then, the motion control unit 112 causes the robot 200 to perform an action corresponding to the area where the emotional parameter 122 is located within the N x N areas, as the emotional action.

[0061] The action control unit 112 may cause the robot 200 to perform such an emotional action together with an event action corresponding to the event when an event has occurred, or may cause the robot 200 to perform such an emotional action together with a spontaneous action when no event has occurred. Alternatively, the action control unit 112 may cause the robot 200 to perform the emotional action as an independent action at a timing independent of the event action or the spontaneous action. By having the robot 200 perform such an emotional action, the user can confirm what emotion the robot 200 is currently feeling. In particular, being able to confirm how the emotions of the robot 200 fluctuate according to biorhythms leads to an increased sense of attachment to the robot 200.

[0062] Next, the flow of the robot control process according to the first embodiment will be described with reference to Fig. 12. The robot control process shown in Fig. 12 is executed by the control unit 110 of the control device 100 when the robot 200 is powered on. The robot control process shown in Fig. 12 is an example of a robot control method.

[0063] When the robot control process starts, the control unit 110 executes an initialization process (step S1). In the initialization process, the control unit 110 sets the position of the emotion parameter 122 on the emotion map 300 to the origin. In the initialization process, the control unit 110 also randomly sets the initial values ​​φ1, φ2, and φ3 of the phases of the three elements of the biorhythm using random numbers.

[0064] When the initialization process is executed, the control unit 110 functions as the event determination unit 111 and determines whether or not an event has occurred (step S2). Specifically, the control unit 110 determines whether or not a condition for occurrence of any type of event defined in the event table 121 has been met, based on the detection value of the external stimulus by the sensor unit 210.

[0065] If no event has occurred (step S2; NO), control unit 110 calculates a change vector (Tx, Ty) of emotion parameter 122 over time at predetermined time intervals Δt (step S3). Specifically, control unit 110 calculates an origin return vector (Bx, By) based on the current coordinate values ​​(Xcur, Ycur) of emotion parameter 122. Control unit 110 also calculates a variation vector (Cx, Cy) due to biorhythm according to the above-mentioned equation (5). In addition, control unit 110 calculates coefficient H so that it increases as the time elapsed since the last event was determined to have occurred in step S2 increases. Then, control unit 110 calculates a variation vector (Tx, Ty) according to the above-mentioned equation (3) using the calculated origin return vector (Bx, By), variation vector (Cx, Cy), and coefficient H.

[0066] Having calculated the change vector (Tx, Ty) of emotion parameter 122, control unit 110 functions as parameter update unit 113 and moves emotion parameter 122 on emotion map 300 (step S4). Specifically, control unit 110 calculates the destination coordinate values ​​(Xnext, Ynext) using the current change vector (Txcur, Tycur) and the change vector (Txpre, Typre) a predetermined time ago Δt from the present, according to equation (2). Control unit 110 then moves the position of emotion parameter 122 on emotion map 300 to the position of the destination coordinate values ​​(Xnext, Ynext). Furthermore, when the time for a spontaneous movement arrives, control unit 110 functions as movement control unit 112 and causes robot 200 to perform the spontaneous movement (step S5).

[0067] On the other hand, if an event occurs in step S2 (step S2; YES), control unit 110 functions as action control unit 112 and causes robot 200 to execute an event action corresponding to the event that has occurred (step S6). Next, control unit 110 functions as parameter update unit 113 and moves emotion parameter 122 on emotion map 300 in accordance with the event that has occurred (step S7). Specifically, control unit 110 reads out the movement vector (dX, dY) corresponding to the event that has occurred from event table 121. Then, control unit 110 calculates the destination coordinate values ​​(Xnext, Ynext) from the current coordinate values ​​(Xcur, Ycur) according to the above-mentioned equation (1), and moves the position of emotion parameter 122 on emotion map 300 to the destination coordinate values ​​(Xnext, Ynext).

[0068] When the emotion parameter 122 is moved in step S4 or step S7, the control unit 110 functions as the movement control unit 112 and causes the robot 200 to perform an emotional movement corresponding to the emotion parameter 122 after the movement (step S8). For example, if the emotion parameter 122 represents "happiness," the control unit 110 causes the robot 200 to perform a movement that appears to be happy, and if the emotion parameter 122 represents "sadness," the control unit 110 causes the robot 200 to perform a movement that appears to be sad. Note that the control unit 110 may cause the robot 200 to perform such an emotional movement together with a spontaneous movement in step S5 or together with an event movement in step S6. Thereafter, the control unit 110 returns the process to step S2. In this way, the control unit 110 repeatedly executes the processes of steps S2 to S8 as long as the robot 200 is powered on and can operate normally.

[0069] As described above, the control device 100 of the robot 200 according to Embodiment 1 updates the emotion parameter 122, which indicates the robot 200's pseudo-emotions, based on a pseudo-biorhythm having three elements with different periods, and operates the robot 200 based on the updated emotion parameter 122. In this way, because the control device 100 updates the emotion parameter 122 based on a pseudo-biorhythm, it can fluctuate the emotion parameter 122 even when no event such as interaction with a user occurs. Therefore, the robot 200 can be made to appear to have independent emotions, and the lifelike quality of the robot 200 can be enhanced.

[0070] In particular, the control device 100 updates the X-axis component of the emotion parameter 122 based on the first and second elements of the biorhythm, and updates the Y-axis component of the emotion parameter 122 based on the first and third elements of the biorhythm. In this way, the control device 100 updates the X-axis and Y-axis components of the emotion parameter 122 based on two elements with different periods of biorhythm, so it can express complex fluctuations that are based on biorhythm but do not feel monotonous. As a result, it can express natural emotional fluctuations and further enhance the lifelike quality of the robot 200.

[0071] Next, Embodiment 2 will be described. Descriptions of the same configuration and functions as in Embodiment 1 will be omitted as appropriate. In Embodiment 1, the parameter update unit 113 updated the emotion parameter 122 based on a simulated biorhythm. In contrast, in Embodiment 2, the parameter update unit 113 updates the emotion parameter 122 using a general periodic pattern that simulates a biorhythm, rather than relying on the biorhythm itself.

[0072] In the second embodiment, parameter update section 113 updates the X-axis component and Y-axis component of emotion parameter 122 using periodic patterns V1(t) to V4(t), which are sine wave patterns with periods unrelated to biorhythms, instead of the three elements I(t), S(t), and P(t) of the biorhythm described in the first embodiment. Specifically, parameter update section 113 calculates fluctuation vector (Cx, Cy) according to the following equation (5') instead of equation (5). The rest is the same as in the first embodiment, so a description thereof will be omitted. (Cx,Cy) = (V1(t)×V2(t)×K,V3(t)×V4(t)×K) …(5')

[0073] As in equation (5') above, parameter update unit 113 updates the X-axis component of emotion parameter 122 based on a first periodic pattern V1(t) that varies with a first period U1, and a second periodic pattern V2(t) that varies with a second period U2 that is different from the first period U1. Simultaneously, parameter update unit 113 updates the Y-axis component of emotion parameter 122 based on a third periodic pattern V3(t) that varies with a third period U3, and a fourth periodic pattern V4(t) that varies with a fourth period U4 that is different from the third period U3.

[0074] Here, the periods U1 to U4 of the periodic patterns V1(t) to V4(t) can be set to periods unrelated to the three biorhythm elements I(t), S(t), and P(t). For example, the periods U1 to U4 may all be different from one another. Alternatively, as in the first embodiment where the first element I(t) is used for both the X-axis component and the Y-axis component of the emotion parameter 122, one of the periods U1 and U2 may be the same as one of the periods U3 and U4. However, at least one of the periods U1 and U2 is set to be different from both the periods U3 and U4 so that the X-axis component and the Y-axis component of the emotion parameter 122 are not exactly the same.

[0075] Thus, in the second embodiment, parameter update unit 113 updates emotion parameter 122 based on general periodic patterns V1(t) to V4(t), which are different from biorhythms themselves. Even using such general periodic patterns V1(t) to V4(t), it is possible to express natural emotional fluctuations. Because general periodic patterns V1(t) to V4(t) can be used, the period can be freely set, which leads to an increased degree of freedom in designing robot 200.

[0076] Although the embodiments of the present invention have been described above, the above embodiments are merely examples, and the scope of application of the present invention is not limited to these. In other words, the embodiments of the present invention are applicable to various applications, and all embodiments are included in the scope of the present invention.

[0077] For example, in the first embodiment, parameter update unit 113 updates the X-axis component of emotion parameter 122 based on the first element (intellectual rhythm) and the second element (emotional rhythm) of the biorhythm, and updates the Y-axis component of emotion parameter 122 based on the first element (intellectual rhythm) and the third element (physical rhythm) of the biorhythm. However, the X-axis component and Y-axis component of emotion parameter 122 may be any combination that can be combined from the three elements of the biorhythm. For example, the first element used for both the X-axis component and the Y-axis component of emotion parameter 122 is not limited to the intellectual rhythm having the longest period T1 of the three elements of the biorhythm. An emotional rhythm or a physical rhythm may be used as the first element for both the X-axis component and the Y-axis component. However, by applying the intellectual rhythm having the longest period T1 of the three elements to both the X-axis component and the Y-axis component, the periods of the long-period patterns in both the X-axis component and the Y-axis component can be lengthened. This provides the effect of minimizing the feeling of repetition.

[0078] In the first embodiment above, the X-axis component and Y-axis component of emotion parameter 122 were represented by the product of the first element and the second element, and the product of the first element and the third element, respectively. Furthermore, in the second embodiment above, the X-axis component and Y-axis component of emotion parameter 122 were represented by the product of two periodic patterns that fluctuate at different periods. However, the X-axis component and Y-axis component of emotion parameter 122 are not limited to this simple product format, and may also be in the form of a sum, a combination of a sum and a product, or the like.

[0079] In the above embodiment, the reference position on the emotion map 300 is the origin (0,0). However, the reference position is not limited to the origin and may be any position on the emotion map 300. For example, a personality coefficient representing a pseudo-personality may be set for the robot 200, and the reference position may be a position obtained by adding an offset corresponding to the personality coefficient to the origin (0,0). The variation vector (Cx,Cy) due to biorhythms may vary around the reference position obtained by adding an offset to the origin (0,0). For example, by adding an offset term corresponding to the personality coefficient to each component of the variation vector (Cx,Cy) in equation (5), such variation offset from the origin (0,0) can be realized. In this way, by setting different personality coefficients among multiple robots 200, the reference position of emotional changes can be shifted depending on the differences in the personalities of the robots 200, thereby giving each robot 200 its own unique character.

[0080] In the above embodiment, the emotion map 300 has two coordinate axes, an X axis and a Y axis. However, the emotion map 300 may have three or more coordinate axes. Furthermore, the coordinate axes of the emotion map 300 are not limited to pseudo-security and activity, and may represent other levels of emotion. When the emotion map 300 has three or more coordinate axes, the emotion parameters 122 are represented by three or more components. In this case, the parameter update unit 113 may update at least two of the three or more components of the emotion parameters 122, as in the first or second embodiment.

[0081] In the above embodiment, the exterior 201 is formed in a cylindrical shape from the head 204 to the torso 206, and the robot 200 is in a prone position. However, the robot 200 is not limited to being modeled after a prone position creature. For example, the robot 200 may be modeled after a creature with arms and legs, and may be modeled after a creature that walks on four legs or two legs.

[0082] In the above embodiment, the control device 100 is built into the robot 200, but the control device 100 may be a separate device (for example, a server) rather than built into the robot 200. When the control device 100 is located outside the robot 200, the robot 200 communicates with the control device 100 via a communication unit (not shown) to transmit and receive data to and from the control device 100. Through such communication with the robot 200, the event determination unit 111 determines whether an event has occurred based on an external stimulus detected by the sensor unit 210, the operation control unit 112 controls the drive unit 220 and the output unit 230, and the parameter update unit 113 updates the emotion parameter 122.

[0083] In the above embodiment, the device controlled by the control device 100 is the robot 200. However, the device controlled by the control device 100 is not limited to a device existing in the real world, such as the robot 200. For example, the device may be a display device that displays an object, such as a virtual character existing in a virtual world, such as an avatar, on a screen. In this case, the display device includes a sensor unit 210 that detects external stimuli. As in the above embodiment, the control device 100 updates the emotion parameter 200 based on the external stimuli, simulated biorhythms, etc. detected by the sensor unit 210, and operates the display device based on the updated emotion parameter 200. Specifically, the control device 100 moves an object displayed on the screen of the display device, changes the object's facial expression, or makes the object emit a sound, thereby making the object behave like a living creature. In this way, the display device functions as a device that simulates a living creature by making the object displayed on the screen behave like a living creature. Furthermore, the above embodiment can be similarly described by replacing "robot 200" with "display device."

[0084] In the above embodiment, the control unit 110 functions as the event determination unit 111, the operation control unit 112, and the parameter update unit 113 by the CPU executing a program stored in the ROM. However, in the present invention, the control unit 110 may include dedicated hardware such as an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or various control circuits instead of the CPU, and the dedicated hardware may function as the event determination unit 111, the operation control unit 112, and the parameter update unit 113. In this case, the functions of each unit may be realized by individual hardware, or the functions of each unit may be realized together by a single piece of hardware. Furthermore, some of the functions of each unit may be realized by dedicated hardware, and other parts may be realized by software or firmware.

[0085] Furthermore, while it is possible to provide a robot pre-configured to realize the functions according to the present invention, it is also possible to make existing information processing devices, etc., function as robots according to the present invention by applying a program. That is, by applying a program to realize each functional configuration of the robot 200 exemplified in the above embodiment so that it can be executed by a CPU, etc. that controls an existing information processing device, etc., it can be made to function as a robot according to the present invention.

[0086] Furthermore, the method of applying such a program is arbitrary. The program can be stored and applied on a computer-readable storage medium such as a flexible disk, CD (Compact Disc)-ROM, DVD (Digital Versatile Disc)-ROM, or memory card. In addition, the program can be superimposed on a carrier wave and applied via a communication medium such as the Internet. For example, the program may be posted and distributed on a bulletin board system (BBS) on a communication network. The program can then be launched and executed under the control of the OS (Operating System), similar to other application programs, to perform the aforementioned processing.

[0087] Although preferred embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above, and various modifications and substitutions can be made to the embodiments described above without departing from the scope of the claims. [Explanation of symbols]

[0088] 100...Control unit, 110...Control unit, 111...Event determination unit, 112...Motion control unit, 113...Parameter update unit, 120...Storage unit, 121...Event table, 122...Emotion parameters, 200...Robot, 300...Emotion map

Claims

1. A control device for controlling a device, a parameter updating means for updating an emotion parameter indicating a pseudo emotion based on a pseudo biorhythm having three elements with different cycles; an operation control means for operating the device based on the emotion parameters updated by the parameter update means, the emotion parameters are represented by coordinate values ​​on a positioning map having at least a first coordinate axis and a second coordinate axis; the parameter update means updates the components of the emotion parameter on the first coordinate axis based on a first element and a second element of the three elements, and updates the components of the emotion parameter on the second coordinate axis based on the first element and a third element of the three elements. A control device characterized by:

2. The period of the first element is longer than the period of the second element and longer than the period of the third element.

2. The control device according to claim 1.

3. The first element is an intellectual element of the pseudo-biorhythm, the second element is an element related to the sensitivity of the pseudo biorhythm, The third element is a physical element of the pseudo biorhythm.

3. The control device according to claim 1 or 2.

4. the parameter update means calculates a component of the emotion parameter on the first coordinate axis by multiplying the first element by the second element, and calculates a component of the emotion parameter on the second coordinate axis by multiplying the first element by the third element.

3. The control device according to claim 1 or 2.

5. the parameter update means randomly sets initial values ​​of the phases of the three elements every time the device is started.

3. The control device according to claim 1 or 2.

6. when an event based on an external stimulus detected in the device occurs, the parameter update means updates the emotion parameter based on the event that has occurred.

3. The control device according to claim 1 or 2.

7. the parameter update means, when the event has not occurred, moves the position of the emotion parameter on the positioning map closer to a reference position over time; 7. The control device according to claim 6.

8. the parameter update means increases the amount of fluctuation in the emotion parameter based on the pseudo biorhythm over time when the event has not occurred; 7. The control device according to claim 6.

9. A control device for controlling a device, a parameter updating means for updating an emotion parameter indicating a pseudo-emotion; an operation control means for operating the device based on the emotion parameters updated by the parameter update means, the emotion parameters are represented by coordinate values ​​on a positioning map having at least a first coordinate axis and a second coordinate axis; said parameter update means updates the emotion parameter component on said first coordinate axis based on a first periodic pattern that varies with a first period and a second periodic pattern that varies with a second period different from the first period, and updates the emotion parameter component on said second coordinate axis based on a third periodic pattern that varies with a third period and a fourth periodic pattern that varies with a fourth period different from the third period; At least one of the first period and the second period is different from both the third period and the fourth period. A control device characterized by:

10. A control method for controlling a device, comprising: a parameter updating step of updating an emotion parameter indicating a pseudo emotion based on a pseudo biorhythm having three elements with different cycles; an operation control step of operating the device based on the emotion parameters updated in the parameter update step, the emotion parameters are represented by coordinate values ​​on a positioning map having at least a first coordinate axis and a second coordinate axis; in the parameter updating step, a component of the emotion parameter on the first coordinate axis is updated based on a first element and a second element of the three elements, and a component of the emotion parameter on the second coordinate axis is updated based on the first element and a third element of the three elements; A control method comprising:

11. The computer that controls the equipment a parameter updating means for updating an emotion parameter indicating a pseudo emotion based on a pseudo biorhythm having three elements with different cycles; a program that functions as operation control means that operates the device based on the emotion parameters updated by the parameter update means, the emotion parameters are represented by coordinate values ​​on a positioning map having at least a first coordinate axis and a second coordinate axis; the parameter update means updates the components of the emotion parameter on the first coordinate axis based on a first element and a second element of the three elements, and updates the components of the emotion parameter on the second coordinate axis based on the first element and a third element of the three elements. A program to make it work like this.

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