Robot

Abstract

To provide a robot performing various biological movements using a simple configuration.SOLUTION: A robot 200 comprises: a trunk part 206 coming into contact with a placement surface; a head part 204 connected to a front end portion of the trunk part 206 so as to freely rotate around a first rotation axis extending in a longitudinal direction of the trunk part 206 and to freely rotate around a second rotation axis extending in a width direction of the trunk part 206; drive means mutually independently performing the rotation around the first rotation axis and the rotation around the second rotation axis so as to rotatingly drive the head part 204; and control means repetitively performing first rotation control of controlling the drive means to rotate the head part 204 around the first rotation axis, with it coming into contact with the placement surface, and second rotation control of controlling the drive means to separate the head part 204 from a placement surface and to return a rotation angle of the head part 204 to an angle before rotating it by the first rotation control, in this order.SELECTED DRAWING: Figure 2

Description

[Technical field]

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

[0002] A known conventional robot is, for example, that disclosed in Patent Document 1. This conventional robot is a dog-shaped robot that has a body, a head, and four legs, and can perform various biological movements by driving the head and legs relative to the body. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2002-239960 Summary of the Invention [Problem to be solved by the invention]

[0004] However, conventional robots have a relatively large number of moving parts, resulting in a complex configuration.

[0005] The present invention has been made in view of the above circumstances, and has as its object to provide a robot that can perform various biological movements using a simple configuration. [Means for solving the problem]

[0006] In order to achieve the above object, one aspect of the robot according to the present invention comprises: a body portion that contacts the placement surface; a head portion connected to the front end portion of the body portion so as to be rotatable about a first rotation axis extending in the front-rear direction of the body portion and about a second rotation axis extending in the width direction of the body portion, and capable of contacting the placement surface; Centered on the first rotation axis First Rotation and the second rotation axis SecondThe head is rotated by the drive mechanism. section and, a control unit that expresses the breathing state of the own device by controlling the drive unit Equipped with. [Effects of the Invention]

[0007] According to the present invention, various biological actions can be performed using a simple configuration. [Brief explanation of the drawings]

[0008]

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Mode for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the figures, the same or corresponding parts are denoted by the same reference numerals.

[0010] (Embodiment 1) The robot 200 according to the embodiment of the present invention is a pet robot imitating a small animal. As shown in FIG. 1, the robot 200 is covered with an exterior 201 having decorative parts 202 imitating eyes and fluffy hair 203. Further, inside the exterior 201, the housing 207 of the robot 200 is housed. As shown in FIG. 2, the housing 207 of the robot 200 includes a head 204, a connecting part 205, and a body part 206, and the head 204 and the body part 206 are connected by the connecting part 205.

[0011] Furthermore, the exterior 201 is attached to the exterior 207 with snap buttons so that the movement of the exterior 207 of the robot 200 is reflected in the exterior 201. Specifically, two snap buttons are provided in the front of the head 204, and two snap buttons are also provided at the rear of the body 206. Snap buttons that fit into the snap buttons provided on the head 204 and body 206 are also provided at corresponding positions on the exterior 201, and the exterior 201 is fastened to the exterior 207 with the snap buttons. Note that the number and positions of the snap buttons shown here are merely examples and can be changed as desired.

[0012] The body 206 extends in the front-to-rear direction and comes into contact with a support surface, such as a floor or a table, on which the robot 200 is placed, via the exterior 201. As shown in FIG. 2, a twist motor 221 is provided at the front end of the body 206, and the head 204 is connected to the front end of the body 206 via a connecting part 205. The connecting part 205 is provided with an up-down motor 222. Although the twist motor 221 is provided in the body 206 in FIG. 2, it may be provided in the connecting part 205.

[0013] The connecting portion 205 connects the body portion 206 and the head portion 204 so as to be rotatable about a first rotation axis that passes through the connecting portion 205 and extends in the front-to-rear direction of the body portion 206. As shown in FIGS. 4 and 5 as front views of the housing 207, the twist motor 221 rotates the head portion 204 clockwise (rightward) around the first rotation axis within a forward rotation angle range, and rotates the head portion 204 counterclockwise (leftward) within a reverse rotation angle range, relative to the body portion 206. Note that the clockwise direction in this description refers to the clockwise direction when looking from the body portion 206 toward the head portion 204. Furthermore, the clockwise rotation will also be referred to as a "twist rotation to the right," and the counterclockwise rotation will also be referred to as a "twist rotation to the left." The maximum angle of the twist rotation to the right or left is arbitrary. 4 and 5, the angle of head 204 when head 204 is not twisted to the right or left as shown in Fig. 3 (hereinafter referred to as "twist reference angle") is represented by 0. The angle when twisted and rotated to the farthest right (clockwise) is represented by -100, and the angle when twisted and rotated to the farthest left (counterclockwise) is represented by +100.

[0014] Furthermore, connecting portion 205 connects body portion 206 and head portion 204 so as to be rotatable about a second rotation axis that passes through connecting portion 205 and extends in the width direction of body portion 206. As shown in FIGS. 6 and 7 as side views of housing 207, up-down motor 222 rotates head portion 204 upward within a forward rotation angle range (forward rotation) and downward within a reverse rotation angle range (reverse rotation) about the second rotation axis. The maximum angle of upward or downward rotation is arbitrary, but in FIGS. 6 and 7, the angle of head portion 204 when not rotated upward or downward (hereinafter referred to as the "up-down reference angle") shown in FIG. 2 is represented as 0, the angle when rotated most downward is represented as -100, and the angle when rotated most upward is represented as +100. When head 204 rotates vertically around the second rotation axis to the vertical reference angle or below the vertical reference angle, head 204 can come into contact with a support surface such as a floor or table on which robot 200 is placed, via exterior 201. Note that, although an example is shown in Fig. 2 in which the first rotation axis and the second rotation axis are orthogonal to each other, the first and second rotation axes do not have to be orthogonal to each other.

[0015] 2, the robot 200 is provided with a touch sensor 211 on the head 204, which can detect when the user strokes or hits the head 204. The robot 200 is also provided with a touch sensor 211 on the body 206, which can detect when the user strokes or hits the body 206.

[0016] The robot 200 also includes an acceleration sensor 212 on the body 206, which can detect the posture of the robot 200 itself and detect when the robot 200 has been picked up, turned around, or thrown by a user. The robot 200 also includes a microphone 213 on the body 206, which can detect external sounds. The robot 200 also includes a speaker 231 on the body 206, which can be used to emit sounds that the robot 200 makes.

[0017] In this embodiment, acceleration sensor 212, microphone 213, and speaker 231 are provided in body 206, but all or some of these may be provided in head 204. Furthermore, in addition to acceleration sensor 212, microphone 213, and speaker 231 provided in body 206, all or some of these may also be provided in head 204.

[0018] Furthermore, in this embodiment, the robot 200 has the housing 207 covered by the exterior 201, and therefore the head 204 and the torso 206 are in indirect contact with a support surface, such as a floor or a table, on which the robot 200 is placed, via the exterior 201. However, the present invention is not limited to this configuration, and the head 204 and the torso 206 may be in direct contact with the support surface. For example, the lower portion (the portion that contacts the support surface) of the exterior 201 may not exist, and the lower portion (the portion that contacts the support surface) of the housing 207 may be exposed, or the exterior 201 may not exist at all, and the entire housing 207 may be exposed.

[0019] Next, the functional configuration of the robot 200 will be described. As shown in FIG. 8, the robot 200 includes a control unit 110, a storage unit 120, a sensor unit 210, a drive unit 22, an output unit 230, and an operation unit 240, which are connected by a bus line BL.

[0020] The control unit 110 is composed of, for example, a CPU (Central Processing Unit), etc., and functions as each unit (external stimulus acquisition unit 111, motion control unit 112) described later by executing the program stored in the storage unit 120. Although not shown, the control unit 110 also has a clock function and a timer function, and can measure the date and time, etc.

[0021] The storage unit 120 is composed of a ROM (Read Only Memory), a flash memory, a RAM (Random Access Memory), etc. The ROM stores the program executed by the CPU of the control unit 110 and the data necessary in advance for executing the program. The flash memory is a writable non-volatile memory, and stores the data that needs to be saved even after the power is turned off. The RAM stores the data created or changed during program execution.

[0022] The sensor unit 210 includes the touch sensor 211, the acceleration sensor 212, and the microphone 213 described above. The control unit 110 acquires the detection values detected by the various sensors included in the sensor unit 210 as external stimuli via the bus line BL. Note that the sensor unit 210 may include sensors other than the touch sensor 211, the acceleration sensor 212, and the microphone 213. By increasing the types of sensors included in the sensor unit 210, the types of external stimuli that the control unit 110 can acquire can be increased.

[0023] The touch sensor 211 detects that an object has come into contact. The touch sensor 211 is composed of, for example, a pressure sensor or a capacitance sensor. The control unit 110 can detect, based on the detection value from the touch sensor 211, that the robot 200 is being stroked by the user, or being tapped, etc.

[0024] The acceleration sensor 212 detects the acceleration in three axial directions including the front-rear direction, width (left-right) direction, and up-down direction of the body part 206 of the robot 200. Since the acceleration sensor 212 detects the gravitational acceleration when the robot 200 is stationary, the control unit 110 can detect the current posture of the robot 200 based on the gravitational acceleration detected by the acceleration sensor 212. Also, for example, when the user lifts or throws the robot 200, the acceleration sensor 212 detects the acceleration accompanying the movement of the robot 200 in addition to the gravitational acceleration. Therefore, the control unit 110 can detect the movement of the robot 200 by removing the component of the gravitational acceleration from the detection value detected by the acceleration sensor 212.

[0025] The microphone 213 detects the sounds around the robot 200. The control unit 110 can detect, based on the sound components detected by the microphone 213, for example, that the user is calling to the robot 200, or clapping hands, etc.

[0026] The drive unit 220 includes a twisting motor 221 and an up-down motor 222. The drive unit 220 is controlled by the control unit 110 to rotationally drive the head 204. As a result, the robot 200 can perform operations such as lifting the head 204 (rotating upward around the second rotation axis), or twisting it horizontally (rotating rightward or leftward around the first rotation axis). The operation control data for performing these operations is recorded in the operation table 122 described later. The drive unit 220 functions as a driving means.

[0027] The output unit 230 includes a speaker 231. 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 the data of the cry of the robot 200 to the output unit 230, the robot 200 emits a pseudo cry. This cry data is recorded in the cry table 123 described later.

[0028] Note that as the output unit 230, instead of or in addition to the speaker 231, a display such as a liquid crystal display or a light emitting unit such as an LED (Light Emitting Diode) may be provided. In this case, the display content for each external stimulus, the color and brightness of the light emitting unit, etc. need to be pre-recorded in the storage unit 120 (for example, a display content table or a light emitting content table).

[0029] The operation unit 240 is composed of, for example, operation buttons, volume knobs, etc. The operation unit 240 is an interface for receiving user operations such as power on / off and volume adjustment of the output sound.

[0030] Next, the functional configuration of the control unit 110 will be described. The control unit 110 functions as an external stimulus acquisition unit 111 and an operation control unit 112.

[0031] The external stimulus acquisition unit 111 acquires an external stimulus acting on the robot 200 from the outside based on the detection value from the sensor unit 210. Since the sensor unit 210 includes a plurality of sensors (touch sensor 211, acceleration sensor 212, microphone 213), the external stimulus acquisition unit 111 acquires a plurality of different types of external stimuli by these plurality of sensors. The external stimulus acquisition unit 111 functions as an external stimulus acquisition means.

[0032] The operation control unit 112 drives the drive unit 220 according to the external stimulus acquired by the external stimulus acquisition unit 111, and also causes the output unit 230 to output a cry. The operation control unit 112 functions as a control means.

[0033] Next, among the data stored in the storage unit 120, the reaction table 121, the operation table 122, and the voice table 123, which are the data characteristic of this embodiment, will be described in order.

[0034] As shown in an example in FIG. 9, the reaction table 121 is a table that defines how the robot 200 reacts to the acquired external stimulus. The external stimulus in the reaction table 121 is basically the external stimulus detected by the sensor unit 210, but is not limited thereto. For example, like the clock information shown in the bottom row of FIG. 9, any information that can be acquired by the control unit 110 can be used as the external stimulus.

[0035] As shown in examples in FIGS. 10 to 14, the operation table 122 is a table in which operation control data for controlling the drive unit 220 is defined for each reaction defined in the reaction table 121. In this table, for each reaction, the rotation angle of the head 204 by the up-down motor 222 and the twist motor 221 for each time is defined. In FIGS. 10 to 14, each row shows "Time: Rotation angle of up-down motor 222: Rotation angle of twist motor 221". Here, the time is in milliseconds, the rotation angle of the up-down motor 222 is 100 at the uppermost end, 0 at the middle (up-down reference angle), -100 at the lowermost end, and the rotation angle of the twist motor 221 is 100 at the leftmost end, 0 at the middle (twist reference angle), -100 at the rightmost end, respectively. As shown in FIGS. 10 to 14, the operation control data is a series of sequence data (here, the arrangement of "Time: Rotation angle of up-down motor 222: Rotation angle of twist motor 221") for controlling the drive unit 220 for each reaction. The operation control unit 112 controlling the drive unit 220 based on this series of sequence data is referred to as "execution of the operation sequence".

[0036] The operation control unit 112 controls the drive unit 220 such that the rotation angle of the twisting motor 221 and the rotation angle of the vertical motor 222 become the defined rotation angles at the times defined for each row of the operation table 122. For this reason, the operation control unit 112 controls not only the rotation angle of each motor but also the rotational angular velocity, so that each motor of the drive unit 220 reaches the defined rotation angle within the defined time. That is, the operation control unit 112 controls the rotation angle of the head 204 and the rotational angular velocity of the head 204 to each of a plurality of different (vertical or horizontal) rotation angles and each of a plurality of (vertical or horizontal) rotational angular velocities.

[0037] Note that the time defined for each row of the operation table 122 represents the standard time for each operation, and the operation control unit 112 may perform operation control with fluctuations with respect to the defined time. For example, assume a case where a certain row of the operation table 122 is defined as "2000:-30:0". In this case, the operation control unit 112 controls the rotation angle of the vertical motor 222 to -30 and the rotation angle of the twisting motor 221 to 0 at a time obtained by increasing or decreasing the defined time by a fluctuation setting value corresponding to the time (for example, a random number equal to or less than 1 / 10 of the defined time) (for example, a random number of 2000 ± 200 or less). By performing such control, the operation control unit 112 can increase or decrease the rotation speed of each motor during the execution of the operation sequence for a certain reaction.

[0038] Also, during the execution of the operation sequence for a certain reaction, the operation control unit 112 may stop the twisting motor 221 and the vertical motor 222 to temporarily stop the movement of the head 204. Further, when temporarily stopping the movement of the head 204, the operation control unit 112 may control each motor to stop in a time shorter than a value defined by the reciprocal of the rotation speed of each motor immediately before (for example, when the rotation speed is 60 rpm (rotations per minute), the reciprocal thereof, 1 / 60 minute = 1 second).

[0039] The following describes each operation for each reaction. Although these operations are defined in detail in the operation table 122, for typical operations, at least one of the following six controls, namely the first control, the second control, the third control, the fourth control, the fifth control, and the sixth control, is executed.

[0040] In the first control, by controlling both the torsion motor 221 and the up-down motor 222, with the head 204 rotated around the second rotation axis to the first initial angle (e.g., an angle of 80) or the second initial angle (e.g., an angle of -50), the forward and reverse rotations of the head 204 around the first rotation axis are alternately repeated on the head 204. Also, in the first control, the rotation angle of the head 204 around the first rotation axis is controlled within a first angle range (e.g., a range from an angle of 80 to an angle of -80) which is a relatively large angle range, and the rotational angular velocity of the head 204 around the first rotation axis is controlled to a first angular velocity which is a relatively slow rotational angular velocity. This first angular velocity is an angular velocity that repeatedly changes from one of the two angles at both ends of the first angle range to the other (e.g., from an angle of 80 to an angle of -80), and from the other to the one (e.g., from an angle of -80 to an angle of 80) in the first time (e.g., 0.5 seconds).

[0041] Also, in the second control, by controlling both the torsion motor 221 and the up-down motor 222, with the head 204 rotated around the second rotation axis to the third initial angle (e.g., an angle of 100), the forward and reverse rotations of the head 204 around the first rotation axis are alternately repeated on the head 204. Also, in the second control, the rotation angle of the head 204 around the first rotation axis is controlled within a second angle range (e.g., a range from an angle of 40 to an angle of -40) which is smaller than the first angle range, and the rotational angular velocity of the head 204 around the first rotation axis is controlled to a second angular velocity which is higher than the first angular velocity. This second angular velocity is an angular velocity that repeatedly changes from one of the two angles at both ends of the second angle range to the other (e.g., from an angle of 40 to an angle of -40), and from the other to the one (e.g., from an angle of -40 to an angle of 40) in the second time (e.g., 0.2 seconds).

[0042] In the third control, both the twist motor 221 and the up-down motor 222 are controlled to rotate the head 204 around the first rotation axis at a twist reference angle, and the head 204 is caused to alternately rotate forward and backward around the second rotation axis. In the third control, the rotation angle of the head 204 around the second rotation axis is controlled to be within a third angle range (for example, a range from -100 to -80) that is smaller than the first angle range and below the up-down reference angle, and the rotation angular velocity of the head 204 around the second rotation axis is controlled to a third angular velocity that is lower than the first angular velocity. This third angular velocity is a rotation angular velocity that repeatedly changes from one angle at either end of the third angle range to the other (for example, from -100 to -80) and from the other angle to the other (for example, from -80 to -100) over a third time period (for example, 0.3 seconds).

[0043] In the fourth control, both the twist motor 221 and the up / down motor 222 are controlled to rotate the head 204 about the second rotation axis to a fourth initial angle (for example, an angle of -50), and the head 204 is caused to alternately rotate forward and backward about the first rotation axis. In the fourth control, the rotation angle of the head 204 about the first rotation axis is controlled to be within a first angle range (for example, a range from an angle of 80 to an angle of -80), which is a relatively large angle range, and the rotation angular velocity of the head 204 about the first rotation axis is controlled to a fourth angular velocity that is lower than the first angular velocity. This fourth angular velocity is a rotation angular velocity that repeatedly changes from one angle at either end of the fourth angle range to the other (for example, from an angle of 80 to an angle of -80) and from the other angle to the other (for example, from an angle of -80 to an angle of 80) over a fourth time period (for example, 2 seconds).

[0044] In the fifth control, both the twist motor 221 and the up-down motor 222 are controlled to rotate the head 204 about the first rotation axis to the twist reference angle, and the head 204 is alternately rotated forward and backward about the second rotation axis. In the fifth control, the rotation angle of the head 204 about the second rotation axis is controlled to be within one of the following angle ranges: a fifth angle range (for example, a range from -20 to -60) that is smaller than the first angle range and below the up-down reference angle, a sixth angle range (for example, a range from -30 to 0) that is smaller than the first angle range and extends from below the up-down reference angle to the up-down reference angle, or a seventh angle range (for example, a range from 30 to 0) that is smaller than the first angle range and extends from above the up-down reference angle to the up-down reference angle. Furthermore, in the fifth control, the rotational angular velocity of the head 204 about the second rotation axis is controlled to one of a fifth angular velocity lower than the fourth angular velocity, a sixth angular velocity lower than the fourth angular velocity and higher than the fifth angular velocity, or a seventh angular velocity lower than the fifth angular velocity. Here, the fifth angular velocity is a rotational angular velocity that repeatedly changes from one of two angles at both ends of a fifth angular range to the other (e.g., from an angle of -20 to an angle of -60) and from the other angle to the other (e.g., from an angle of -60 to an angle of -20) over a fifth time period (e.g., 3 seconds). Also, the sixth angular velocity is a rotational angular velocity that repeatedly changes from one of two angles at both ends of a sixth angular range to the other (e.g., from an angle of -30 to an angle of 0) and from the other angle to the other (e.g., from an angle of 0 to an angle of -30) over a sixth time period (e.g., 2 seconds). The seventh angular velocity is a rotational angular velocity that repeatedly changes from one of the two angles at both ends of the seventh angle range to the other (e.g., from an angle of 30 to an angle of 0) and from the other angle to the other (e.g., from an angle of 0 to an angle of 30) over a seventh time period (e.g., 3 seconds).

[0045] Also, in the sixth control, by controlling both the torsion motor 221 and the vertical motor 222, the head 204 is rotated to the fifth initial angle (for example, an angle of 80) around the second rotation axis, and then the forward and reverse rotations of the head 204 around the first rotation axis and the forward and reverse rotations of the head 204 around the second rotation axis are alternately repeated, respectively. In the control of the torsion motor 221 in the sixth control, the forward and reverse rotations of the head 204 around the first rotation axis are alternately repeated on the head 204, and the rotation angle of the head 204 around the first rotation axis is controlled within a second angle range (for example, a range from an angle of 40 to an angle of -40) smaller than the first angle range, and the rotational angular velocity of the head 204 around the first rotation axis is controlled to a second angular velocity higher than the first angular velocity. This second angular velocity is a rotational angular velocity that repeatedly changes from one of the two angles at both ends of the second angle range to the other (for example, from an angle of 40 to an angle of -40), and from the other to one (for example, from an angle of -40 to an angle of 40) within the second time (for example, 0.2 seconds). In the control of the vertical motor 222 in the sixth control, the forward and reverse rotations of the head 204 around the second rotation axis are alternately repeated on the head 204, and the rotation angle of the head 204 around the second rotation axis is controlled within an eighth angle range (for example, a range from an angle of 60 to an angle of 100) that is smaller than the first angle range and above the vertical reference angle, and the rotational angular velocity of the head 204 around the second rotation axis is controlled to an eighth angular velocity higher than the first angular velocity. This eighth angular velocity is a rotational angular velocity that repeatedly changes from one of the two angles at both ends of the eighth angle range to the other (for example, from an angle of 60 to an angle of 100), and from the other to one (for example, from an angle of 100 to an angle of 60) within the second time (for example, 0.2 seconds).

[0046] In response to "breathing," which is a reaction in the absence of external stimuli, the operation control unit 112 first rotates the head 204 to the twist reference angle around the first rotation axis by controlling the twist motor 221 and the up-down motor 222 using the fifth control described above, as shown in Fig. 10. Next, the head 204 is rotated around the second rotation axis to one angle (e.g., an angle of -20) within a fifth angle range (e.g., a range from an angle of -20 to an angle of -60) which is a downward angle range with respect to the up-down reference angle direction. Then, head 204 is alternately rotated forward (for example, from a -60 angle to a -20 angle) and backward (for example, from a -20 angle to a -60 angle) about the second rotation axis in a cycle of a breathing reference time (for example, 3 seconds, which may be fluctuated as described above) that is equal to or longer than the first reference time (for example, 2 seconds), thereby controlling head 204 within a fifth angular range defined by two different downward angles (for example, a -20 angle and a -60 angle). Furthermore, the rotation angular velocity of head 204 is repeatedly changed from one of the two downward angles to the other (for example, from a -20 angle to a -60 angle by 40 degrees) and from the other to the other (for example, from a -60 angle to a -20 angle by -40 degrees) over the breathing reference time (for example, 3 seconds), and controlled to a fifth angular velocity lower than any of the first to fourth angular velocities and the sixth angular velocity. Since angles within this first angle range are downward (negative) angles relative to the vertical reference angle (angle of 0), this control causes the angle of head 204 to change while facing downward, causing the center of housing 207 to periodically slightly rise and fall. The period of the breathing reference time longer than the first reference time is preferably 2 seconds or more, which causes robot 200 to slowly repeat up and down movements, thereby expressing breathing. Note that the breathing movement shown in FIG. 10 ends at 24 seconds, but it may return to the 3-second point and repeat up and down movements. This breathing movement allows robot 200 to express a sense of life even in the absence of any external stimuli.

[0047] Regarding "being surprised", which is the reaction when a loud sound is detected by the microphone 213, as shown in FIG. 10, the operation control unit 112 controls the up-down motor 222 to quickly (for example, in 0.1 second) rotate the head 204 (neck) upward with respect to the up-down reference angle (angle of 0), thereby expressing a biological motion representing that the robot 200 is surprised and on the alert.

[0048] Regarding "being happy", which is the reaction when it is detected that the touch sensor 211 on the body part 206 has been stroked, as shown in FIG. 10, the operation control unit 112 controls the twist motor 221 and the up-down motor 222 by the first control described above. First, the head 204 (neck) is rotated upward by a first initial angle (for example, an angle of 80) with respect to the up-down reference angle around the second rotation axis. Next, with the head 204 rotated upward in such a state, the forward and reverse rotations of the head 204 around the first rotation axis are alternately repeated on the head 204, the rotation angle of the head 204 is controlled within the first angle range, and the rotational angular velocity of the head 204 is controlled to the first angular velocity. As described above, with the head 204 rotated upward from the up-down reference angle, by slowly twisting left and right with respect to the twist reference angle, a biological motion representing the joy of the robot 200 is expressed.

[0049] Regarding "being excited", which is the reaction when it is detected that the robot is being held, as shown in FIG. 10, the operation control unit 112 controls the twist motor 221 and the up-down motor 222 by the second control described above. First, the head 204 (neck) is rotated upward by a third initial angle (for example, an angle of 100) with respect to the up-down reference angle around the second rotation axis. Next, with the head 204 rotated upward in such a state, the forward and reverse rotations of the head 204 around the first rotation axis are alternately repeated on the head 204, the rotation angle of the head 204 is controlled within a second angle range smaller than the first angle range, and the rotational angular velocity of the head 204 is controlled to a second angular velocity higher than the first angular velocity. As described above, with the head 204 rotated upward from the up-down reference angle, by quickly twisting left and right in small increments with respect to the twist reference angle, a biological motion representing the excitement of the robot 200 is expressed.

[0050] Regarding "angry", which is a reaction when it is detected that the touch sensor 211 on the head 204 has been tapped, as shown in FIG. 11, the operation control unit 112 controls the torsion motor 221 and the vertical motor 222 by the above-described sixth control. First, the head 204 (neck) is rotated upward by a fifth initial angle (for example, an angle of 80) with respect to the vertical reference angle around the second rotation axis. Next, the forward and reverse rotations of the head 204 around the first rotation axis and the forward and reverse rotations of the head 204 around the second rotation axis are alternately repeated for the head 204. By such control, the rotation angle of the head 204 around the first rotation axis is controlled within a second angle range (for example, a range from an angle of 40 to an angle of -40) smaller than the first angle range, and the rotational angular velocity of the head 204 around the first rotation axis is controlled to a second angular velocity (for example, the angular velocity at which the rotation from an angle of 40 to an angle of -40 is performed in 0.2 seconds) higher than the first angular velocity. The rotation angle of the head 204 around the second rotation axis is controlled within an eighth angle range, which is an angle range smaller than the first angle range and above the vertical reference angle, and the rotational angular velocity of the head 204 around the second rotation axis is controlled to an eighth angular velocity higher than the first angular velocity. As described above, in a state where the head 204 is rotated upward from the vertical reference angle, the head 204 rotates quickly up and down in small increments with respect to the vertical reference angle, and the head 204 rotates quickly left and right in small increments with respect to the torsion reference angle, thereby expressing a biological motion representing the anger of the robot 200.

[0051] For "anxious," which is a reaction when the robot detects that it has been thrown, as shown in Fig. 11 , the movement control unit 112 first rotates the head 204 slightly downward about the second rotation axis by a second initial angle (for example, an angle of -50) relative to the vertical reference angle by controlling the twist motor 221 and the up-down motor 222 using the first control described above. Next, with the head 204 rotated downward in this manner, the movement control unit 112 alternately rotates the head 204 forward and backward about the first rotation axis to control the rotation angle of the head 204 within a first angle range and controls the rotation angular velocity of the head 204 to a first angular velocity. As a result, with the head 204 rotated downward from the vertical reference angle, the robot 200 expresses a biological movement that indicates anxiety by twisting left and right relative to the twist reference angle.

[0052] For the "sad" reaction when the touch sensor 211 of the body 206 detects a hit, as shown in FIG. 11 , the movement control unit 112 first rotates the head 204 around the first rotation axis to the twist reference angle by controlling the twist motor 221 and the up-down motor 222 using the third control described above. Next, with the head 204 rotated to the twist reference angle, the movement control unit 112 alternately rotates the head 204 forward and backward around the second rotation axis to control the rotation angle of the head 204 around the second rotation axis to within a third angle range that is smaller than the first angle range and lower than the up-down reference angle, and controls the rotation angular velocity of the head 204 around the second rotation axis to a third angular velocity that is lower than the first angular velocity. As a result, the head 204 rotates up and down around the second rotation axis in small increments relative to the up-down reference angle, thereby expressing a lifelike movement of the robot 200 expressing sadness.

[0053] Regarding "becoming listless," which is the reaction when it is detected that the head is tilted, as shown in FIG. 11, the operation control unit 112 controls the torsion motor 221 and the vertical motor 222 by the fourth control described above. First, the head 204 is rotated downward by a fourth initial angle with respect to the vertical reference angle around the second rotation axis. Next, with the head 204 rotated downward in this way, the forward and reverse rotations of the head 204 around the first rotation axis are alternately repeated on the head 204, the rotation angle of the head 204 around the first rotation axis is controlled within the first angle range, and the rotational angular velocity of the head 204 around the first rotation axis is controlled to a fourth angular velocity lower than the first angular velocity. As described above, the head 204 slowly twists left and right with respect to the torsion reference angle, thereby expressing a biological motion representing the listlessness of the robot 200.

[0054] Regarding "becoming calm," which is the reaction when a small sound is detected by the microphone 213, as shown in FIG. 12, the operation control unit 112 controls the torsion motor 221 and the vertical motor 222 by the fifth control described above. First, the head 204 is rotated to the torsion reference angle around the first rotation axis. Next, with the head 204 rotated to the torsion reference angle in this way, the forward and reverse rotations of the head 204 around the second rotation axis are alternately repeated on the head 204, the rotation angle of the head 204 around the second rotation axis is controlled within a sixth angle range (for example, a range from an angle of -30 to an angle of 0), which is a range smaller than the first angle range and from below the vertical reference angle to the vertical reference angle, and the rotational angular velocity of the head 204 around the second rotation axis is controlled to a sixth angular velocity lower than the fourth angular velocity and higher than the fifth angular velocity. As described above, the head 204 slowly rotates up and down slightly below the vertical reference angle around the second rotation axis, thereby expressing a biological motion representing the calmness of the robot 200.

[0055] Regarding the reaction of "feel at ease", which is detected when the touch sensor 211 on the head 204 is stroked, as shown in FIG. 12, the operation control unit 112 controls the torsion motor 221 and the vertical motor 222 by the fifth control described above. First, the head 204 is rotated to the torsion reference angle around the first rotation axis. Next, with the head 204 rotated to the torsion reference angle in this way, the forward and reverse rotations of the head 204 around the second rotation axis are alternately repeated for the head 204, and the rotation angle of the head 204 around the second rotation axis is controlled within the seventh angle range (for example, the range from an angle of 30 to an angle of 0), which is an angle range smaller than the first angle range and from above the vertical reference angle to the vertical reference angle, and the rotational angular velocity of the head 204 around the second rotation axis is controlled to the seventh angular velocity lower than the fifth angular velocity. As described above, the head 204 slowly rotates up and down slightly above the vertical reference angle around the second rotation axis, thereby expressing a biological motion representing the comfort of the robot 200.

[0056] Regarding the reaction of "rotate to the right", which is detected when the microphone 213 detects the voice "right", as shown in FIG. 12, the operation control unit 112 rotates the robot 200 to the right around the axis extending in the vertical direction from the body part 206 by performing control to rotate the head 204 greatly up, down, left, and right.

[0057] More specifically, after performing the rotation preparation control described below, the first rotation control and the second rotation control are repeatedly executed in this order to perform the rotation. In the rotation preparation control, the vertical motor 222 rotates the second rotation axis upward by a non-contact reference angle (for example, an angle of 50) around the second rotation axis so as to separate the head 204 from the mounting surface, and the torsion motor 221 rotates the head 204 by a torsion rotation to the rotation preparation angle (for example, an angle of 100) around the first rotation axis.

[0058] In the first rotation control, the head 204 is rotated downward by the vertical motor 222 to a contact reference angle (for example, an angle of -100) to contact the placement surface, and then rotated by the twisting motor 221 at a first angle (for example, from an angle of 100 to -100) about the first rotation axis. Also, in the first rotation control, the head 204 contacts the placement surface, and the portion other than the rear end of the body portion 206 is slightly lifted from the placement surface. Therefore, the frictional force of the portion other than the rear end of the body portion 206 against the placement surface is smaller than the frictional force of the head 204 and the rear end portion of the body portion 206 against the placement surface. And in this state, when the head 204 rotates clockwise about the first rotation axis, the head 204 receives a frictional force in the right direction from the placement surface, and the robot 200 rotates to the right about the axis extending in the vertical direction from the body portion 206.

[0059] In the second rotation control, the head 204 is rotated upward about the second rotation axis by the vertical motor 222 so as to be separated from the placement surface, and at the same time, the head 204 is rotated by the twisting motor 221 to the angle before being rotated at the first angle about the first rotation axis (for example, from an angle of -100 to 100). By this control, the head 204 no longer contacts the placement surface (no frictional force is generated between the head 204 and the placement surface), and the rotation angle of the head 204 about the first rotation axis returns to an angle at which the above-described first rotation control can be performed again. Note that in the second rotation control, after the rotation of the head 204 upward about the second rotation axis to be separated from the placement surface is completed, the rotation to return to the previous angle about the first rotation axis may be performed. Also, the rotation to return to the previous angle about the first rotation axis may be performed while the head 204 is rotated upward about the second rotation axis to be separated from the placement surface. [[ID=:6]]

[0060] For the "large rotation to the right", which is the reaction when the microphone 213 detects the voice "turn right", as shown in FIG. 13, the operation control unit 112 performs control to greatly rotate the head 204 vertically and horizontally, so that the robot 200 rotates greatly to the right about the axis extending in the vertical direction from the body portion 206.

[0061] More specifically, the above-described first rotation control and second rotation control are repeatedly executed in this order a number of times greater than the number of repetitions of the reaction "right rotation" (for example, twice the number of repetitions), thereby performing rotation.

[0062] Regarding "left rotation", which is the reaction when the voice "left" is detected by the microphone 213, as shown in FIG. 13, the operation control unit 112 rotates the robot 200 to the left about an axis extending vertically from the body part 206 by controlling the head 204 to rotate greatly in all directions.

[0063] More specifically, rotation is performed by repeatedly executing the above-described first rotation control and second rotation control in this order. However, the above-described first angle is rotated in the reverse of the reaction "right rotation" (for example, from an angle of -100 to 100).

[0064] Regarding "large left rotation", which is the reaction when the voice "rotate left" is detected by the microphone 213, as shown in FIG. 14, the operation control unit 112 rotates the robot 200 greatly to the left about an axis extending vertically from the body part 206 by controlling the head 204 to rotate greatly in all directions.

[0065] More specifically, rotation is performed by repeatedly executing the above-described first rotation control and second rotation control in this order a number of times greater than the number of repetitions of the reaction "left rotation" (for example, twice the number of repetitions). However, the above-described first angle is rotated in the reverse of the reaction "right rotation" (for example, from an angle of -100 to 100).

[0066] Regarding "time announcement", which is the reaction when the clock included in the control unit 110 notifies 0:00:00, as shown in FIG. 14, the operation control unit 112 rotates the head 204 upward with respect to the vertical reference angle via the vertical motor 222, and controls the torsion motor 221 to rotate forward and backward to swing the head 204 left and right with respect to the torsion reference angle, thereby expressing the operation of announcing the time.

[0067] As shown in FIG. 15, for each reaction defined in the reaction table 121, the voice table 123 defines voice data output from the output unit 230. Note that the voice data refers to the voice data of the voice. In FIG. 15, for easy understanding, sentences explaining each voice data are described, but actually, the voice data itself explained by these sentences is stored in the voice table 123.

[0068] Next, with reference to the flowchart shown in FIG. 16, the robot control process executed by the control unit 110 of the robot 200 will be described. The robot control process is a process in which the control unit 110 controls the operation and voice of the robot 200 based on the detection value from the sensor unit 210 and the like. When the user turns on the power of the robot 200, the robot control process is started.

[0069] First, the external stimulus acquisition unit 111 acquires an external stimulus from the sensor unit 210 (step S101). Step S101 is also called the external stimulus acquisition step.

[0070] Then, the motion control unit 112 refers to the reaction table 121 according to the external stimulus acquired in step S101 and determines what reaction should be made (step S102). Step S102 is also called the reaction determination step. In step S102, the motion control unit 112 functions as reaction determination means.

[0071] Then, the motion control unit 112 acquires motion control data and voice data according to the reaction determined in step S102 (step S103). Step S103 is also called the motion data acquisition step. In step S103, the motion control unit 112 functions as motion data acquisition means.

[0072] Then, the operation control unit 112 controls the operation and voice of the robot 200 based on the operation control data and voice data acquired in step S103 (step S104). Specifically, the drive unit 220 is controlled using the operation control data acquired in step S103, and a voice is output from the output unit 230 using the voice data acquired in step S103. Step S104 is also called the operation control step.

[0073] Subsequently, the control unit 110 determines whether to end the process (step S105). For example, when the operation unit 240 receives an instruction to turn off the power of the robot 200, the process ends. If the process is to end (step S105; Yes), the control unit 110 ends the robot control process.

[0074] If the process is not to end (step S105; No), the control unit 110 returns to step S101.

[0075] According to the robot control process described above, although the robot 200 has a simple structure in which the head 204 and the body 206 are connected by the connecting part 205, it can perform rotational movements that cannot be imagined from its structure.

[0076] Furthermore, despite having such a simple structure, the robot 200 can perform various biological-like movements that seem as if it were alive.

[0077] As an example of various biological-like movements, by turning the head 2 upwards and shaking it left and right or up and down, joy, excitement, and anger can be expressed.

[0078] Also, as another example of various biological-like movements, by turning the head 204 downwards and shaking it left and right or up and down, uneasiness, sadness, and listlessness can be expressed.

[0079] Also, as yet another example of various biological actions, by slowly moving the head 204 up and down, breathing, calmness, and a sense of security can be expressed.

[0080] Also, by changing the reaction according to an external stimulus, more lifelike actions can be made.

[0081] Also, by giving the rotation speed of the head 204 fluctuations, more lifelike movements can be expressed.

[0082] Also, by temporarily stopping the head 204, more lifelike movements can be expressed.

[0083] Furthermore, when temporarily stopping the head 204, by stopping it in a time shorter than the reciprocal of the rotation speed, the head 204 can be stopped without a sense of discomfort, and more lifelike movements can be expressed.

[0084] (Embodiment 2) As Embodiment 2, a robot 250 that can be given pseudo-emotions will be described. The appearance and hardware configuration of the robot 250 are the same as those of the robot 200. As shown in FIG. 17, compared with the functional configuration of the robot 200, the functional configuration of the robot 250 has an emotion setting unit 113, a change amount learning unit 114, emotion data 124, emotion change data 125, and growth days data 126 added. Also, since it is desirable that the emotion data 124, the emotion change data 125, and the growth days data 126 be stored even when the power of the robot 250 is turned off, they are stored in a non-volatile memory such as the flash memory of the storage unit 120.

[0085] The emotion setting unit 113 sets emotion parameters (emotion data 124) representing the pseudo-emotions of the robot 250 according to the external stimuli acquired by the external stimulus acquisition unit 111 and the emotion change parameters described later. The emotion setting unit 113 functions as emotion setting means.

[0086] The amount-of-change learning unit 114 learns and stores an emotion change parameter (emotion change data 125), which is a parameter for changing the pseudo-emotion of the robot 250, according to the external stimulus acquired by the external stimulus acquisition unit 111. Specifically, the amount-of-change learning unit 114 increases or decreases the emotion change data 125 according to the external stimulus by a robot control process described later. The amount-of-change learning unit 114 functions as emotion change parameter learning means.

[0087] The emotion data 124 is data for giving the robot 250 a pseudo-emotion, and is data (X, Y) indicating coordinates on the emotion map 300 shown in FIG. 18. As shown in FIG. 18, the emotion map 300 is represented by a two-dimensional coordinate system having an axis of reassurance level (anxiety level) as the X-axis 311 and an axis of excitement level (listlessness level) as the Y-axis 312. The origin 310 (0, 0) on the emotion map represents the emotion in the normal state. Then, the larger the absolute value of the X coordinate value (X value) is and the value is positive, the higher the reassurance level is, and the larger the absolute value of the Y coordinate value (Y value) is and the value is positive, the higher the excitement level is, representing the emotion. Also, the larger the absolute value of the negative X value is, the higher the anxiety level is, and the larger the absolute value of the negative Y value is, the higher the listlessness level is, representing the emotion.

[0088] The emotion data 124 has two values, an X value (reassurance level, anxiety level) and a Y value (excitement level, listlessness level), representing a plurality of different (four in this embodiment) pseudo-emotions. The point on the emotion map 300 represented by the X value and the Y value represents the pseudo-emotion of the robot 250. The initial value of the emotion data 124 is (0, 0), and it is set by the emotion setting unit 113 according to the acquired external stimulus. Although the emotion map 300 is represented by a two-dimensional coordinate system in FIG. 18, the number of dimensions of the emotion map 300 is arbitrary. The emotion map 300 may be defined in one dimension and one value may be set as the emotion data 124. Also, other axes may be added to define the emotion map 300 in a three-dimensional or higher coordinate system, and the number of values equal to the number of dimensions of the emotion map 300 may be set as the emotion data 124.

[0089] In this embodiment, as shown in the frame 301 of FIG. 18, the size of the emotion map 300 as the initial value has a maximum value of 100 and a minimum value of -100 for both the X value and the Y value. And during the first period, every time the pseudo growth days of the robot 250 increase by one day, both the maximum value and the minimum value of the emotion map 300 are enlarged by 2. Here, the first period is the period during which the robot 250 pseudo-grows, for example, a period of 50 days from the pseudo-birth of the robot 250. Note that the pseudo-birth of the robot 250 is the first activation by the user after the robot 250 is shipped from the factory. When the growth days reach 25 days, as shown in the frame 302 of FIG. 18, both the X value and the Y value have a maximum value of 150 and a minimum value of -150. And after the first period (50 days in this example) has elapsed, as shown in the frame 303 of FIG. 18, both the X value and the Y value have a maximum value of 200 and a minimum value of -200, and the size of the emotion map 300 is fixed.

[0090] The settable range of the emotion data 124 is defined by the emotion map 300. Therefore, as the size of the emotion map 300 expands, the range of the settable emotion data 124 expands. By expanding the settable range of the emotion data 124, richer emotion expressions become possible, so the pseudo-growth of the robot 250 is expressed by the expansion of the size of the emotion map 300. And the size of the emotion map 300 is fixed after the first period has elapsed, and the pseudo-growth of the robot 250 ends.

[0091] The emotion change data 125 is data for setting the change amount for increasing or decreasing each of the X value and the Y value of the emotion data 124. In this embodiment, as the emotion change data 125 corresponding to X of the emotion data 124, there are DXP for increasing the X value and DXM for decreasing the X value, and as the emotion change data 125 corresponding to the Y value of the emotion data 124, there are DYP for increasing the Y value and DYM for decreasing the Y value. That is, the emotion change data 125 consists of the following four variables. Since these variables are parameters for changing the pseudo-emotion of the robot 250, they are also called emotion change parameters. DXP: Easiness to feel at ease (Easiness of the X value in the emotion map to change in the positive direction) DXM: Tendency to become anxious (tendency for the X value in the emotion map to change in the negative direction) DYP: Tendency to become excited (tendency for the Y value in the emotion map to change in the positive direction) DYM: Tendency to become listless (tendency for the Y value in the emotion map to change in the negative direction) In this embodiment, as an example, the initial values of these variables are all set to 10, and they are set to increase up to a maximum of 20 by the change amount learning unit 114 described above. Since the change amount learning unit 114 changes the emotion change data 125, that is, the degree of change in emotion, the robot 250 will have various personalities according to the way the user touches the robot 250. That is, the personality of the robot 250 will be individually different according to the way the user touches it.

[0092] The growth days data 126 has an initial value of 1 and is incremented by 1 each day. The growth days data 126 represents the pseudo growth days of the robot 250 (the number of days since pseudo birth).

[0093] Next, with reference to the flowchart shown in FIG. 19, the robot control process executed by the control unit 110 of the robot 250 will be described. When the user turns on the power of the robot 250, the robot control process is started. As shown in FIG. 19, the robot control process of the robot 250 is a process in which step S103 of the robot control process of the robot 200 shown in FIG. 16 is replaced with step S112, step S111 is added between step S102 and step S112, and steps S113 to S116 are added after step S105. Therefore, these added steps will be described.

[0094] In step S111, the emotion setting unit 113 sets the emotion data 124 according to the emotion change data 125 and the external stimulus acquired in step S101. Although it is arbitrary how the emotion setting unit 113 sets the emotion data 124, here, an example is shown below. Note that since the maximum and minimum values of the X value and Y value of the emotion data 124 are defined by the size of the emotion map 300, when the maximum value of the emotion map 300 is exceeded by the following calculation, the maximum value is set, and when it is below the minimum value of the emotion map 300, the minimum value is set, respectively.

[0095] The head 204 is stroked (feel at ease): X = X + DXP The head 204 is slapped (become anxious): X = X - DXM (These external stimuli can be detected by the touch sensor 211 of the head 204) The torso 206 is stroked (become excited): Y = Y + DYP The torso 206 is slapped (become listless): Y = Y - DYM (These external stimuli can be detected by the touch sensor 211 of the torso 206) Held with the head up (be happy): X = X + DXP and Y = Y + DYP Held upside down (be sad): X = X - DXM and Y = Y - DYM (These external stimuli can be detected by the touch sensor 211 and the acceleration sensor 212) Called in a gentle voice (become calm): X = X + DXP and Y = Y - DYM Shouted at in a loud voice (become irritated): X = X - DXM and Y = Y + DYP (These external stimuli can be detected by the microphone 213)

[0096] In step S112, the operation control unit 112 acquires operation control data and voice data according to the reaction determined in step S102 and the emotion data 124 set in step S111. In step S112, the operation control unit 112 functions as emotion operation data acquisition means. How to use the emotion data 124 when acquiring the operation control data and the voice data in this step is arbitrary. For example, according to the value of the emotion data 124, the operation control data and the voice data may be changed. As an example of this change, for example, the larger the value of X of the emotion data 124, the larger the volume of the voice data, and the larger the value of Y of the emotion data, the smaller the time defined in the operation control data to increase the operation speed.

[0097] Also, in Embodiment 1, the operation table 122 and the voice table 123 defined the operation control data and the voice data for each of the reactions. However, in Embodiment 2, the operation control data and the voice data may be defined for each set of the reaction and the emotion data 124 in the operation table 122 and the voice table 123. In this case, the operation control unit 112 acquires the operation control data and the voice data defined for each set of the reaction determined in step S102 and the emotion data 124 set in step S111.

[0098] Returning to FIG. 19, in step S113, the control unit 110 determines whether the date has changed by means of the clock function. If the date has not changed (step S113; No), the process returns to step S101.

[0099] If the date has changed (step S113; Yes), the control unit 110 determines whether it is within the first period (step S114). Assuming that the first period is a period of, for example, 50 days from the pseudo-birth of the robot 250 (at the first startup by the user after factory shipment), the control unit 110 determines that it is within the first period if the growth days data 126 is 50 or less. If it is not within the first period (step S114; No), the process returns to step S101.

[0100] During the first period (step S114; Yes), the change amount learning unit 114 learns the emotion change data 125 (emotion change parameters) (step S115). Specifically, on the day of step S111, if the X value of the emotion data 124 is set to the maximum value of the emotion map 300 even once, 1 is added to DXP of the emotion change data 125. If the Y value of the emotion data 124 is set to the maximum value of the emotion map 300 even once, 1 is added to DYP of the emotion change data 125. If the X value of the emotion data 124 is set to the minimum value of the emotion map 300 even once, 1 is added to DXM of the emotion change data 125. If the Y value of the emotion data 124 is set to the minimum value of the emotion map 300 even once, 1 is added to DYM of the emotion change data 125, thereby updating and learning the emotion change data 125. However, if each value of the emotion change data 125 becomes too large, the amount of change in the emotion data 124 will become too large. Therefore, each value of the emotion change data 125 is limited to a maximum value of, for example, 20. Also, here, 1 is added to each of the emotion change data 125. However, for example, the number of times set to the maximum value or the minimum value may be counted, and if the number of times is large, the numerical value added to the emotion change data 125 may be increased.

[0101] In the learning of the emotional change data 125 (emotional change parameter) in step S115, whether the emotional data 124 is set to the maximum or minimum value of the emotion map 300 in step S111 is based on the external stimulus acquired in step S101. In step S101, since a plurality of different types of external stimuli are acquired by a plurality of sensors included in the sensor unit 210, each of the emotional change data 125 is learned according to each of these plurality of external stimuli. For example, when only the head 204 is stroked many times, only the DXP of the emotional change data 125 increases, and the other emotional change data 125 does not change, so the robot 250 has a personality that is easy to feel at ease. Also, when only the head 204 is knocked many times, only the DXM of the emotional change data 125 increases, and the other emotional change data 125 does not change, so the robot 250 has a personality that is prone to anxiety. Thus, the change amount learning unit 114 learns to make the emotional change data 125 different from each other according to each of the external stimuli. Step S115 is also called an emotional change parameter learning step.

[0102] Then, the control unit 110 expands the emotion map 300 by 2 both for the maximum value and the minimum value (step S116), adds 1 to the growth days data 126, and returns to step S101. Here, it is assumed that the emotion map 300 is expanded by 2 both for the maximum value and the minimum value, but the expanded numerical value "2" is only an example, and it may be expanded by 3 or more, or it may be expanded by 1. Also, the expanded numerical values do not have to be the same for each axis of the emotion map 300, nor for the maximum value and the minimum value.

[0103] In addition, in FIG. 19, the learning of the emotional change parameters and the expansion of the emotion map are assumed to be performed after determining that the date has changed in step S113, but it may be performed after determining that the reference time (for example, 9:00 p.m.) has been reached. Also, the determination in step S113 may be made based on the value obtained by accumulating the time that the robot 250 has been powered on using the timer function of the control unit 110, rather than determining based on the actual date. For example, every time the cumulative time of being powered on reaches a multiple of 24, it may be regarded that the robot 250 has grown by one day, and the learning of the emotional change parameters and the expansion of the emotion map may be performed.

[0104] For the processing other than steps S111 to S116, since it is the same as the processing in the first embodiment, the description is omitted.

[0105] According to the robot control processing described above, although the robot 250 has a simple configuration, it can execute various biological-like operations and express pseudo-emotions.

[0106] (Modification example) Note that the present invention is not limited to the above-described embodiments, and various modifications and applications are possible. For example, in the above-described robots 200 and 250, the operations of the robots 200 and 250 control the drive unit 220 with the operation control data defined in the operation table 122 and output a sound from the output unit 230 with the sound data defined in the sound table 123. However, only the driving of the drive unit 220 or only the output of the sound from the output unit 230 may be performed. Also, controls other than operations and sounds may be set. As controls other than operations and sounds, for example, when the output unit 230 of the robots 200 and 250 is provided with an LED, it is conceivable to control the color and brightness of the LED to be lit.

[0107] In the above-described embodiments, the robots 200 and 250 operate by two driving means (motors), namely the torsion motor 221 and the vertical motor 222. However, the driving means is not limited to two motors. For example, the robots 200 and 250 may be operated by one motor by switching the rotation about the first rotation axis and the rotation about the second rotation axis with a clutch. Further, the driving means is not limited to a motor that rotates. For example, an actuator that linearly reciprocates may be used as the driving means by converting the reciprocating motion into a rotational motion with a crank, a ball screw, or the like.

[0108] In the above-described embodiments, various operations shown in FIGS. 10 to 14 are defined in the operation table 122. However, the robots 200 and 250 do not necessarily need to be configured to be able to execute all of these operations, and it is sufficient if they are configured to be able to execute at least one of these operations.

[0109] In the above-described embodiments, the operation program executed by the CPU of the control unit 110 was stored in advance in the ROM or the like of the storage unit 120. However, the present invention is not limited to this, and an operation program for executing the above-described various processes may be implemented in an existing general-purpose computer or the like, so as to function as a device corresponding to the control unit 110 and the storage unit 120 of the robots 200 and 250 according to the above-described embodiments.

[0110] The method of providing such a program is arbitrary. For example, it may be stored and distributed in a computer-readable recording medium (flexible disk, CD (Compact Disc)-ROM, DVD (Digital Versatile Disc)-ROM, MO (Magneto-Optical Disc), memory card, USB memory, etc.), or the program may be stored in a storage on a network such as the Internet and provided by allowing it to be downloaded.

[0111] Also, when the above-described processing is executed by sharing between an OS (Operating System) and an application program or by cooperation between the OS and the application program, only the application program may be stored in a recording medium or a storage. It is also possible to superimpose a program on a carrier wave and distribute it via a network. For example, the above program may be posted on a bulletin board (Bulletin Board System: BBS) on the network and the program may be distributed via the network. Then, this program may be started and configured to execute the above-described processing by executing it in the same manner as other application programs under the control of the OS.

[0112] The present invention can be implemented in various embodiments and variations without departing from the broad spirit and scope of the present invention. Also, the above-described embodiments are for explaining the present invention and do not limit the scope of the present invention. That is, the scope of the present invention is indicated by the claims rather than the embodiments. And various modifications made within the scope of the claims and within the scope of the meaning of the invention equivalent thereto are considered to be within the scope of this invention. The invention described in the original claims of the present application is appended below.

[0113] (Appendix 1) A body portion that contacts the placement surface, At the front end of the body portion, it is rotatably connected about a first rotation axis extending in the front-rear direction of the body portion and rotatably connected about a second rotation axis extending in the width direction of the body portion, and a head portion that can contact the placement surface, Drive means for rotationally driving the head portion by independently performing rotation about the first rotation axis and rotation about the second rotation axis, a first rotation control for controlling the driving means so as to rotate the head about the first rotation axis in a state where the head is in contact with the placement surface, and a second rotation control for controlling the driving means so as to separate the head from the placement surface and return the rotation angle of the head to an angle before being rotated by the first rotation control, and repeatedly executing the controls in this order; A robot comprising the same.

[0114] (Appendix 2) The control means includes: By controlling the driving means, with the head rotated to a first initial angle or a second initial angle about the second rotation axis, the forward and reverse rotations of the head about the first rotation axis are alternately repeated on the head, the rotation angle of the head about the first rotation axis is controlled within a first angle range, and the rotational angular velocity of the head is controlled to a first angular velocity; a first control; By controlling the driving means, with the head rotated to a third initial angle about the second rotation axis, the forward and reverse rotations of the head about the first rotation axis are alternately repeated on the head, the rotation angle of the head about the first rotation axis is controlled within a second angle range smaller than the first angle range, and the rotational angular velocity of the head is controlled to a second angular velocity higher than the first angular velocity; a second control; By controlling the driving means, with the head rotated to a torsion reference angle about the first rotation axis, the forward and reverse rotations of the head about the second rotation axis are alternately repeated on the head, the rotation angle of the head about the second rotation axis is controlled within a third angle range which is smaller than the first angle range and below the vertical reference angle, and the rotational angular velocity of the head is controlled to a third angular velocity lower than the first angular velocity; a third control; By controlling the driving means, with the head rotated to a fourth initial angle about the second rotation axis, the forward and reverse rotations of the head about the first rotation axis are alternately repeated on the head, the rotation angle of the head about the first rotation axis is controlled within the first angle range, and the rotational angular velocity of the head is controlled to a fourth angular velocity lower than the first angular velocity, which is a fourth control; By controlling the driving means, with the head rotated to a twisting reference angle about the first rotation axis, the forward and reverse rotations of the head about the second rotation axis are alternately repeated on the head, and the rotation angle of the head about the second rotation axis is controlled within a fifth angle range, which is an angle range smaller than the first angle range and below the vertical reference angle, or within a sixth angle range, which is an angle range smaller than the first angle range and from below the vertical reference angle to the vertical reference angle, or within a seventh angle range, which is an angle range smaller than the first angle range and from above the vertical reference angle to the vertical reference angle, and the rotational angular velocity of the head is controlled to a fifth angular velocity lower than the fourth angular velocity, or a sixth angular velocity lower than the fourth angular velocity and higher than the fifth angular velocity, or a seventh angular velocity lower than the fifth angular velocity, which is a fifth control; By controlling the driving means, after rotating the head to a fifth initial angle about the second rotation axis, the forward and reverse rotations of the head about the first rotation axis and the forward and reverse rotations of the head about the second rotation axis are alternately repeated on the head respectively, the rotation angle of the head about the first rotation axis is controlled within the second angle range, and the rotational angular velocity of the head about the first rotation axis is controlled to the second angular velocity. Further, the rotation angle of the head about the second rotation axis is controlled within an eighth angle range, which is an angle range smaller than the first angle range and above the vertical reference angle, and the rotational angular velocity of the head about the second rotation axis is controlled to an eighth angular velocity higher than the first angular velocity, which is a sixth control, and at least one of the six controls is executed. The robot according to appended note 1.

[0115] (Appendix 3) The control means By controlling the drive means by the first control, with the head rotated upward by the first initial angle with respect to the vertical reference angle about the second rotation axis, the forward and reverse rotations of the head about the first rotation axis are alternately repeated on the head, the rotation angle of the head about the first rotation axis is controlled within the first angle range, and the rotational angular velocity of the head about the first rotation axis is controlled to the first angular velocity to express a happy motion, By controlling the drive means by the second control, with the head rotated upward by the third initial angle with respect to the vertical reference angle about the second rotation axis, the forward and reverse rotations of the head about the first rotation axis are alternately repeated on the head, the rotation angle of the head about the first rotation axis is controlled within the second angle range, and the rotational angular velocity of the head about the first rotation axis is controlled to the second angular velocity to express an excited motion, By controlling the drive means by the sixth control, after rotating the head upward by the fifth initial angle with respect to the vertical reference angle about the second rotation axis, the forward and reverse rotations of the head about the first rotation axis and the forward and reverse rotations of the head about the second rotation axis are alternately repeated on the head respectively, the rotation angle of the head about the first rotation axis is controlled within the second angle range, the rotational angular velocity of the head about the first rotation axis is controlled to the second angular velocity, the rotation angle of the head about the second rotation axis is controlled within the eighth angle range, and the rotational angular velocity of the head about the second rotation axis is controlled to the eighth angular velocity to express an angry motion, The robot according to Appendix 2.

[0116] (Appendix 4) The control means By controlling the driving means with the first control, with the head rotated downward by the second initial angle with respect to the vertical reference angle about the second rotation axis, the forward and reverse rotations of the head about the first rotation axis are alternately repeated on the head, the rotation angle of the head about the first rotation axis is controlled within the first angle range, and the rotational angular velocity of the head about the first rotation axis is controlled to the first angular velocity to express a restless motion. By controlling the driving means with the third control, with the head rotated to the torsion reference angle about the first rotation axis, the forward and reverse rotations of the head about the second rotation axis are alternately repeated on the head, the rotation angle of the head about the second rotation axis is controlled within the third angle range, and the rotational angular velocity of the head is controlled to the third angular velocity to express a sad motion. By controlling the driving means with the fourth control, with the head rotated downward by the second initial angle with respect to the vertical reference angle about the second rotation axis, the forward and reverse rotations of the head about the first rotation axis are alternately repeated on the head, the rotation angle of the head about the first rotation axis is controlled within the first angle range, and the rotational angular velocity of the head about the first rotation axis is controlled to the fourth angular velocity to express a listless motion. The robot according to appended claim 2.

[0117] (Appended claim 5) The control means By controlling the driving means with the fifth control, with the head rotated to the torsion reference angle about the first rotation axis, the forward and reverse rotations of the head about the second rotation axis are alternately repeated on the head. The rotation angle of the head about the second rotation axis is controlled within the fifth angle range, and the rotational angular velocity of the head is controlled to the fifth angular velocity to express a breathing motion. The rotation angle of the head about the second rotation axis is controlled within the sixth angle range, and the rotational angular velocity of the head is controlled to the sixth angular velocity to express a calm motion. Control the rotation angle of the head around the second rotation axis within the seventh angular range, and control the rotational angular velocity of the head to the seventh angular velocity to express a reassuring operation. The robot according to Addendum 2.

[0118] (Addendum 6) External stimulus acquisition means for acquiring an external stimulus, Reaction determination means for determining a reaction according to the acquired external stimulus, Emotion change parameter learning means for learning an emotion change parameter for changing a pseudo emotion according to the acquired external stimulus, Emotion setting means for setting an emotion parameter representing a pseudo emotion according to the acquired external stimulus and the learned emotion change parameter, Emotion action data acquisition means for acquiring action control data for controlling the drive means according to the determined reaction and the set emotion parameter, Further comprising The control means controls the drive means based on the acquired action control data to rotate the head. The robot according to any one of Addenda 1 to 5.

[0119] (Addendum 7) When the control means controls the drive means based on the action control data, the control means increases or decreases the rotation speed of the head. The robot according to Addendum 6.

[0120] (Addendum 8) When the control means controls the drive means based on the action control data, the control means temporarily stops the rotation of the head. The robot according to Addendum 6 or 7.

[0121] (Addendum 9) When the control means temporarily stops the rotation of the head, the control means stops in a time shorter than the reciprocal of the rotation speed of the head. The robot according to Addendum 8.

[0122] (Appendix 10) A body part that contacts the placement surface, At the front end of the body part, it is rotatably connected about a first rotation axis extending in the front-rear direction of the body part and rotatably connected about a second rotation axis extending in the width direction of the body part, and a head that can contact the placement surface, Drive means for rotationally driving the head by independently performing rotation about the first rotation axis and rotation about the second rotation axis, A control method for a robot comprising: An external stimulus acquisition step of acquiring an external stimulus acting on the robot from the outside, A reaction determination step of determining a reaction according to the acquired external stimulus, An operation data acquisition step of acquiring operation control data according to the determined reaction, Based on the acquired operation control data, by controlling the drive means, a first rotation control for controlling the drive means so that the head rotates about the first rotation axis in a state of being in contact with the placement surface, and a second rotation control for controlling the drive means so that the head is separated from the placement surface and the rotation angle of the head is returned to the angle before being rotated by the first rotation control are repeatedly executed in this order. An operation control step, A control method for a robot comprising:

[0123] (Appendix 11) A body part that contacts the placement surface, At the front end of the body part, it is rotatably connected about a first rotation axis extending in the front-rear direction of the body part and rotatably connected about a second rotation axis extending in the width direction of the body part, and a head that can contact the placement surface, Drive means for rotationally driving the head by independently performing rotation about the first rotation axis and rotation about the second rotation axis, In a computer of a robot comprising: An external stimulus acquisition step of acquiring an external stimulus acting on the robot from the outside, A reaction determination step for determining a reaction according to the acquired external stimulus, An operation data acquisition step for acquiring operation control data according to the determined reaction, and Based on the acquired operation control data, by controlling the driving means, a first rotation control for rotating the head about the first rotation axis in a state of being in contact with the placement surface, and a second rotation control for lifting the head from the placement surface and returning the rotation angle of the head to the angle before being rotated by the first rotation control are repeatedly executed in this order. An operation control step, A program for causing the execution.

Explanation of Signs

[0124] 110... Control unit, 111... External stimulus acquisition unit, 112... Operation control unit, 113... Emotion setting unit, 114... Change amount learning unit, 120... Memory unit, 121... Reaction table, 122... Operation table, 123... Voice table, 124... Emotion data, 125... Emotion change data, 126... Growth days data, 200, 250... Robots, 201... Exterior, 202... Decorative parts, 203... Hair, 204... Head, 205... Connecting part, 206... Body part, 207... Housing, 210... Sensor unit, 211... Touch sensor, 212... Acceleration sensor, 213... Microphone, 220... Driving unit, 221... Twisting motor, 222... Up and down motor, 230... Output unit, 231... Speaker, 240... Operation unit, 300... Emotion map, 301, 302, 303... Frame, 310... Origin, 311... X-axis, 312... Y-axis, BL... Bus line

Claims

1. A body part that contacts a placement surface, A head that is connected to the front end of the body part so as to be rotatable about a first rotation axis extending in the front-rear direction of the body part and about a second rotation axis extending in the width direction of the body part, and that can contact the placement surface, A drive unit that rotationally drives the head by independently performing a first rotation about the first rotation axis and a second rotation about the second rotation axis, A control unit that expresses the breathing state of the device itself by controlling the drive unit, A robot comprising the above.

2. The control unit, Determines the presence or absence of an external stimulus to the device, When it is determined that there is no external stimulus, expresses the breathing state, The robot according to Claim 1.

3. The control unit, When it is determined that there is an external stimulus, determines the type of the external stimulus, In response to the determined type of the external stimulus, expresses a predetermined emotion by performing at least one of the first rotation and the second rotation in the drive unit on the head, The robot according to Claim 2.

4. A body part that contacts a placement surface, A head that is connected to the front end of the body part so as to be rotatable about a first rotation axis extending in the front-rear direction of the body part and about a second rotation axis extending in the width direction of the body part, and that can contact the placement surface, A drive unit that rotationally drives the head by independently performing a first rotation about the first rotation axis and a second rotation about the second rotation axis, and comprising: Acquires an external stimulus to the device, Determines the type of the detected external stimulus, A control unit that expresses a predetermined emotion by performing at least one of the first rotation and the second rotation in the drive unit on the head according to the determined type of the external stimulus, A robot comprising the above.

5. The control unit, Expresses the predetermined emotion by controlling at least one of the rotation angle and the rotational angular velocity of at least one of the first rotation and the second rotation in the drive unit according to the determined type of the external stimulus, The robot according to Claim 4.

6. The control unit, When the type of the external stimulus is determined to be a predetermined type, controls both the first rotation and the second rotation in the drive unit, The robot according to Claim 4 or 5.

7. The control unit, When the type of the external stimulus is determined to be a predetermined type, the forward and reverse rotations of the head about the first rotation axis are alternately repeated on the head. The robot according to any one of claims 4 to 6. **Claim 8** The control unit When the type of the external stimulus is determined to be a predetermined type, the control unit controls the head to rotate slightly up and down with respect to the vertical reference angle about the second rotation axis. The robot according to any one of claims 4 to 7. **Claim 9** The control unit A first control for alternately repeating the forward and reverse rotations of the head about the first rotation axis on the head in a state where the head is rotated to a first initial angle or a second initial angle about the second rotation axis by controlling the drive unit, controlling the rotation angle of the head about the first rotation axis within a first angle range, and controlling the rotational angular velocity of the head to a first angular velocity; A second control for alternately repeating the forward and reverse rotations of the head about the first rotation axis on the head in a state where the head is rotated to a third initial angle about the second rotation axis by controlling the drive unit, controlling the rotation angle of the head about the first rotation axis within a second angle range smaller than the first angle range, and controlling the rotational angular velocity of the head to a second angular velocity higher than the first angular velocity; A third control for alternately repeating the forward and reverse rotations of the head about the second rotation axis on the head in a state where the head is rotated to a torsion reference angle about the first rotation axis by controlling the drive unit, controlling the rotation angle of the head about the second rotation axis within a third angle range which is smaller than the first angle range and below the vertical reference angle, and controlling the rotational angular velocity of the head to a third angular velocity lower than the first angular velocity; A fourth control for alternately repeating the forward and reverse rotations of the head about the first rotation axis on the head in a state where the head is rotated to a fourth initial angle about the second rotation axis by controlling the drive unit, controlling the rotation angle of the head about the first rotation axis within the first angle range, and controlling the rotational angular velocity of the head to a fourth angular velocity lower than the first angular velocity; By controlling the drive unit, with the head rotated to the reference angle about the first rotation axis, the forward and reverse rotations of the head about the second rotation axis are alternately repeated on the head, and the rotation angle of the head about the second rotation axis is within a fifth angle range that is smaller than the first angle range and below the vertical reference angle, or within a sixth angle range that is smaller than the first angle range and ranges from below the vertical reference angle to the vertical reference angle, or within a seventh angle range that is smaller than the first angle range and ranges from above the vertical reference angle to the vertical reference angle, and the rotational angular velocity of the head is controlled to a fifth angular velocity that is lower than the fourth angular velocity, and the head is repeatedly changed from one of two angles at both ends of the fifth angle range to the other and from the other to the one within the fifth time, or a sixth angular velocity that is lower than the fourth angular velocity and higher than the fifth angular velocity, and the head is repeatedly changed from one of two angles at both ends of the sixth angle range to the other and from the other to the one within a sixth time that is shorter than the fifth time, or a seventh angular velocity that is lower than the fifth angular velocity, and a fifth control for controlling to any one of the angular velocities, By controlling the drive unit, after rotating the head to the fifth initial angle about the second rotation axis, the forward and reverse rotations of the head about the first rotation axis and the forward and reverse rotations of the head about the second rotation axis are alternately repeated on the head respectively, the rotation angle of the head about the first rotation axis is controlled within the second angle range, and the rotational angular velocity of the head about the first rotation axis is controlled to the second angular velocity. Further, the rotation angle of the head about the second rotation axis is controlled within an eighth angle range that is smaller than the first angle range and above the vertical reference angle, and the rotational angular velocity of the head about the second rotation axis is controlled to an eighth angular velocity that is higher than the first angular velocity, and at least one of the six controls including a sixth control is executed. The robot according to any one of claims 4 to 8.

10. The control unit By controlling the drive unit with the first control, with the head rotated upward by the first initial angle with respect to the vertical reference angle about the second rotation axis, the forward and reverse rotations of the head about the first rotation axis are alternately repeated on the head, the rotation angle of the head about the first rotation axis is controlled within the first angle range, and the rotational angular velocity of the head about the first rotation axis is controlled to the first angular velocity to express a happy motion. By controlling the drive unit with the second control, with the head rotated upward by the third initial angle with respect to the vertical reference angle about the second rotation axis, the forward and reverse rotations of the head about the first rotation axis are alternately repeated on the head, the rotation angle of the head about the first rotation axis is controlled within the second angle range, and the rotational angular velocity of the head about the first rotation axis is controlled to the second angular velocity to express an excited motion. By controlling the drive unit with the sixth control, after rotating the head upward by the fifth initial angle with respect to the vertical reference angle about the second rotation axis, the forward and reverse rotations of the head about the first rotation axis and the forward and reverse rotations of the head about the second rotation axis are alternately repeated on the head respectively. The rotation angle of the head about the first rotation axis is controlled within the second angle range, the rotational angular velocity of the head about the first rotation axis is controlled to the second angular velocity, the rotation angle of the head about the second rotation axis is controlled within the eighth angle range, and the rotational angular velocity of the head about the second rotation axis is controlled to the eighth angular velocity to express an angry motion. The robot according to claim 9.

11. The control unit By controlling the drive unit with the first control, with the head rotated downward by the second initial angle with respect to the vertical reference angle about the second rotation axis, the forward and reverse rotations of the head about the first rotation axis are alternately repeated on the head, the rotation angle of the head about the first rotation axis is controlled within the first angle range, and the rotational angular velocity of the head about the first rotation axis is controlled to the first angular velocity to express a restless motion. By controlling the drive unit by the third control, while rotating the head to the torsion reference angle about the first rotation axis, the forward and reverse rotations of the head about the second rotation axis are alternately repeated on the head, and the rotation angle of the head about the second rotation axis is controlled within the third angle range, and the rotational angular velocity of the head is controlled to the third angular velocity to express a sad motion. By controlling the drive unit by the fourth control, while rotating the head downward by the second initial angle with respect to the vertical reference angle about the second rotation axis, the forward and reverse rotations of the head about the first rotation axis are alternately repeated on the head, and the rotation angle of the head about the first rotation axis is controlled within the first angle range, and the rotational angular velocity of the head about the first rotation axis is controlled to the fourth angular velocity to express a listless motion. The robot according to claim 9.

12. The control unit By controlling the drive unit by the fifth control, while rotating the head to the torsion reference angle about the first rotation axis, the forward and reverse rotations of the head about the second rotation axis are alternately repeated on the head. While controlling the rotation angle of the head about the second rotation axis within the fifth angle range, the rotational angular velocity of the head is controlled to the fifth angular velocity to express a breathing motion. While controlling the rotation angle of the head about the second rotation axis within the sixth angle range, the rotational angular velocity of the head is controlled to the sixth angular velocity to express a calm motion. While controlling the rotation angle of the head about the second rotation axis within the seventh angle range, the rotational angular velocity of the head is controlled to the seventh angular velocity to express a reassuring motion. The robot according to claim 9.

13. The control unit Determines a reaction corresponding to the external stimulus, Learns an emotion change parameter for changing a pseudo-emotion according to the acquired external stimulus, Sets an emotion parameter representing a pseudo-emotion according to the acquired external stimulus and the learned emotion change parameter, Obtains motion control data for controlling the rotation of the head corresponding to the determined reaction and the set emotion parameter, Rotates the head based on the obtained motion control data. The robot according to any one of claims 4 to 12.

14. The control unit increases or decreases the rotation speed of the head based on the operation control data. The robot according to claim 13.

15. The control unit temporarily stops the rotation of the head based on the operation control data. The robot according to claim 13 or 14.

16. When the control unit temporarily stops the rotation of the head, it stops in a time shorter than the reciprocal of the rotation speed of the head. The robot according to claim 15.

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