Photographing system, photographing device, photographing method and program

Abstract

To perform moving image imaging of an imaging object at accurate timing.SOLUTION: In a terminal device 50, a gesture selection unit 514 selects a gesture to cause an imaging object to execute. An imaging unit 560 performs moving image imaging of the imaging object. An imaging control unit 513 causes the imaging object to execute the gesture selected by the gesture selection unit 514, and causes the imaging unit 560 to finish moving image imaging at timing corresponding to timing in which the imaging object finishes the gesture.SELECTED DRAWING: Figure 9

Description

[Technical Field]

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

[0002] There are known electronic devices that simulate living creatures such as pets, humans, etc. For example, Patent Document 1 discloses an autonomously acting pet robot that learns and grows while communicating with a user. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-225875 Summary of the Invention [Problem to be solved by the invention]

[0004] In electronic devices that mimic living creatures, there is a demand for recording the autonomous behavior of the electronic devices as video. However, when the subject of the video recording is acting autonomously, it is difficult to predict the timing of the behavior, which makes it difficult to record the video at the right time.

[0005] The present invention is intended to solve the above-mentioned problems, and aims to provide a photography system, photography device, photography method, and program that are capable of capturing video of a subject at the right time. [Means for solving the problem]

[0006] In order to achieve the above object, one aspect of the photography system according to the present invention comprises: From among multiple gestures for which the execution time information of each gesture is pre-associated, gesture selection means for selecting a gesture to be performed by the subject; ,before A shooting means for shooting a video of the subject; ,beforea gesture control means for causing the subject to perform the gesture selected by the gesture selection means; Based on the information on the execution time of the gesture The imaging means ends the video recording at a timing corresponding to a timing when the subject ends the gesture. and causing the image capturing means to capture the moving image with a capture time length corresponding to the execution time length of the gesture. Shooting control means; ,of Preparation When two or more gestures are selected from the plurality of gestures by the gesture selection means, the gesture control means causes the subject to perform the two or more gestures in a predetermined order, and the shooting control means causes the shooting means to shoot the video for a shooting time length based on a total execution time length of the two or more gestures. It is characterized by: [Effects of the Invention]

[0007] According to the present invention, moving images of a subject can be captured at the right timing. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram showing an outline of the overall configuration of a robot system according to a first embodiment. [Figure 2] 1 is a cross-sectional side view of a robot according to a first embodiment. [Figure 3] 1 is a diagram showing a housing of a robot according to a first embodiment. [Figure 4] FIG. 1 is a first diagram showing the movement of a twist motor of the robot according to the first embodiment; [Figure 5] FIG. 10 is a second diagram showing the movement of the twist motor of the robot according to the first embodiment. [Figure 6] 1A to 1C are first diagrams showing the movement of the up and down motors of the robot according to the first embodiment. [Figure 7] FIG. 10 is a second diagram showing the movement of the up and down motor of the robot according to the first embodiment. [Figure 8] 1 is a block diagram showing a configuration of a robot according to a first embodiment. [Figure 9] 1 is a block diagram showing the configuration of a terminal device according to a first embodiment. [Figure 10] FIG. 3 is a diagram showing an example of an emotion map according to the first embodiment. [Figure 11] FIG. 2 is a diagram showing an example of a personality value radar chart according to the first embodiment. [Figure 12] FIG. 4 is a diagram showing an example of gesture information according to the first embodiment. [Figure 13] FIG. 1 is a first diagram illustrating an example of a coefficient table according to the first embodiment. [Figure 14] FIG. 2 is a second diagram illustrating an example of a coefficient table according to the first embodiment. [Figure 15] 4 is a flowchart showing the flow of a robot control process according to the first embodiment. [Figure 16] 10 is a flowchart showing the flow of gesture control processing according to the first embodiment. [Figure 17] FIG. 4 is a diagram showing a display example of a shooting mode screen according to the first embodiment. [Figure 18] FIG. 2 is a diagram showing a display example of a video playback screen according to the first embodiment. [Figure 19] FIG. 4 is a sequence diagram showing the flow of a moving image shooting process according to the first embodiment. [Figure 20] 10 is a flowchart showing the flow of a gesture selection process based on voice input according to the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

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

[0010] (Embodiment 1) 1 shows a schematic configuration of a robot system 1 according to the first embodiment. The robot system 1 includes a robot 20 and a terminal device 50. The robot 20 is an example of the electronic device according to the first embodiment.

[0011] The robot 20 is a device that operates autonomously without direct operation by a user. The robot 20 is a pet robot that resembles a small animal. The robot 20 has an exterior 201 that has decorative parts that resemble eyes and fluffy fur.

[0012] 2 and 3, the robot 20 includes a housing 207. The housing 207 is covered by an exterior 201 and is housed inside the exterior 201. The housing 207 includes a head 204, a connecting portion 205, and a body 206. The connecting portion 205 connects the head 204 and the body 206 together.

[0013] The exterior 201 is an example of an exterior member, and has a bag-like shape that is long in the front-to-rear direction and can house the housing 207 inside. The exterior 201 is formed in a cylindrical shape from the head 204 to the body 206, and integrally covers the body 206 and the head 204. By having the exterior 201 shaped in this way, the robot 20 is formed in a prone position.

[0014] The outer surface of exterior 201 is made of artificial pile fabric that resembles the fur of a small animal, in order to simulate the feel of the skin of a small animal. The lining of exterior 201 is made of synthetic fiber, natural fiber, natural leather, artificial leather, a synthetic resin sheet material, a rubber sheet material, or the like. Because it is made of such a flexible material, exterior 201 follows the movement of casing 207. Specifically, exterior 201 follows the rotation of head 204 relative to body 206.

[0015] In order for exterior 201 to follow the movement of housing 207, exterior 201 is attached to housing 207 with snap buttons (not shown). Specifically, at least one snap button is provided in the front of head 204, and at least one snap button is provided in the rear of body 206. Snap buttons that fit into the snap buttons provided on head 204 and body 206 are also provided in corresponding positions on exterior 201, and exterior 201 is fastened to housing 207 and attached with the snap buttons. Note that the number and positions of the snap buttons are merely examples and can be changed as desired.

[0016] 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 20 is placed, via the exterior 201. The body 206 is provided with a twist motor 221 at its front end. The head 204 is connected to the front end of the body 206 via a connecting unit 205. The connecting unit 205 is provided with a vertical motor 222. Although the twist motor 221 is provided in the body 206 in FIG. 2 , it may be provided in the connecting unit 205. The twist motor 221 and the vertical motor 222 connect the head 204 to the body 206 so as to be rotatable about axes in the left-right and front-to-rear directions of the robot 20.

[0017] As the XYZ coordinate axes, the X-axis and Y-axis are set in a horizontal plane, and the Z-axis is set in the vertical direction. The positive direction of the Z-axis corresponds to the vertically upward direction. For ease of explanation, the following description will be given assuming that the robot 20 is placed on the placement surface with the left-right direction (width direction) of the robot 20 as the X-axis direction and the front-back direction of the robot 20 as the Y-axis direction.

[0018] Connecting portion 205 connects body portion 206 and head 204 so as to be rotatable about a first rotation axis that passes through connecting portion 205 and extends in the front-to-rear direction (Y-axis direction) of body portion 206. As shown in Figures 4 and 5, twist motor 221 rotates head 204 (forward rotation) clockwise (right-handed) around the first rotation axis within a forward rotation angle range relative to body portion 206, and rotates head 204 (reverse rotation) counterclockwise (left-handed) within a reverse rotation angle range.

[0019] In this description, clockwise refers to the clockwise direction when looking from the body 206 toward the head 204. Clockwise rotation is also called "rightward twist rotation," and counterclockwise rotation is also called "leftward twist rotation." The maximum angle of rightward or leftward twist rotation is arbitrary. In Figures 4 and 5, the angle of the head 204 when the head 204 is not twisted to the right or left (hereinafter referred to as "twist reference angle") is represented by 0. The angle when the head 204 is twisted to the left most (counterclockwise rotation) is represented by -100, and the angle when the head is twisted to the right most (clockwise rotation) is represented by +100.

[0020] 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 left-right direction (width direction, X-axis direction) of body portion 206. As shown in Figures 6 and 7, up-down motor 222 rotates head portion 204 upward about the second rotation axis within a forward rotation angle range (forward rotation) and rotates head portion 204 downward within a reverse rotation angle range (reverse rotation).

[0021] The maximum angle of rotation upward or downward is arbitrary, but in Figures 6 and 7, the angle of head 204 when head 204 is not rotated upward or downward (hereinafter referred to as the "vertical reference angle") 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.

[0022] 2 and 3, the robot 20 is provided with touch sensors 211 on the head 204 and the body 206. The touch sensors 211 enable the robot 20 to detect when the user strokes or hits the head 204 or the body 206.

[0023] The robot 20 is provided with an acceleration sensor 212, a microphone 213, a gyro sensor 214, an illuminance sensor 215, and a speaker 231 on the body 206. The acceleration sensor 212 and the gyro sensor 214 enable the robot 20 to detect changes in its own posture, and also to detect when the robot 20 is being picked up, turned around, or thrown by a user. The illuminance sensor 215 enables the robot 20 to detect the illuminance around the robot 20. The microphone 213 enables the robot 20 to detect external sounds. The speaker 231 enables the robot 20 to make sounds.

[0024] At least some of the acceleration sensor 212, microphone 213, gyro sensor 214, illuminance sensor 215, and speaker 231 may be provided not only in the torso 206 but also in the head 204, or may be provided in both the torso 206 and the head 204.

[0025] Next, the functional configuration of the robot 20 will be described with reference to Fig. 8. As shown in Fig. 8, the robot 20 includes a control device 100, a sensor unit 210, a drive unit 220, an output unit 230, and an operation unit 240. These units are connected via a bus line BL, for example. Note that instead of the bus line BL, a wired interface such as a USB (Universal Serial Bus) cable or a wireless interface such as Bluetooth (registered trademark) may be used.

[0026] The control device 100 is a device that controls the robot 20. The control device 100 includes a control unit 110, which is an example of a control means, a storage unit 120, which is an example of a storage means, and a communication unit 130, which is an example of a communication means.

[0027] The control unit 110 includes a CPU (Central Processing Unit). The CPU is, for example, a microprocessor, and is a central processing unit that executes various processes and calculations. In the control unit 110, the CPU reads out a control program stored in ROM and controls the overall operation of the robot 20, which is the control unit itself, while using RAM as a work memory. Furthermore, although not shown, the control unit 110 includes a clock function, a timer function, etc., and can measure the date and time, etc. The control unit 110 may also be called a "processor."

[0028] The storage unit 120 includes a ROM (Read Only Memory), a RAM (Random Access Memory), a flash memory, etc. The storage unit 120 stores programs and data used by the control unit 110 to perform various processes, including an OS (Operating System) and application programs. The storage unit 120 also stores data generated or acquired by the control unit 110 as a result of the control unit 110 performing various processes.

[0029] The communication unit 130 includes a communication interface for communicating with devices external to the robot 20. For example, the communication unit 130 communicates with external devices including the terminal device 50 in accordance with well-known communication standards such as wireless LAN (Local Area Network), BLE (Bluetooth Low Energy (registered trademark)), and NFC (Near Field Communication).

[0030] The sensor unit 210 includes the above-mentioned touch sensor 211, acceleration sensor 212, gyro sensor 214, illuminance sensor 215, and microphone 213. The sensor unit 210 is an example of a detection unit that detects an external stimulus.

[0031] The touch sensor 211 includes, for example, a pressure sensor or a capacitance sensor, and detects contact with an object. Based on the detection value of the touch sensor 211, the control unit 110 can detect whether the robot 20 is being stroked or hit by the user.

[0032] The acceleration sensor 212 detects acceleration applied to the body 206 of the robot 20. The acceleration sensor 212 detects acceleration in each of the X-axis direction, the Y-axis direction, and the Z-axis direction, that is, acceleration in three axes.

[0033] For example, the acceleration sensor 212 detects gravitational acceleration when the robot 20 is stationary. The control unit 110 can detect the current posture of the robot 20 based on the gravitational acceleration detected by the acceleration sensor 212. In other words, the control unit 110 can detect whether the housing 207 of the robot 20 is tilted from the horizontal direction based on the gravitational acceleration detected by the acceleration sensor 212. In this way, the acceleration sensor 212 functions as tilt detection means that detects the tilt of the robot 20.

[0034] Furthermore, when the user lifts or throws the robot 20, the acceleration sensor 212 detects not only the gravitational acceleration but also the acceleration accompanying the movement of the robot 20. Therefore, the control unit 110 can detect the movement of the robot 20 by removing the gravitational acceleration component from the detection value detected by the acceleration sensor 212.

[0035] The gyro sensor 214 detects the angular velocity when rotation is applied to the body 206 of the robot 20. Specifically, the gyro sensor 214 detects the angular velocity of three-axis rotation, namely, rotation about the X-axis direction, rotation about the Y-axis direction, and rotation about the Z-axis direction. By combining the detection values ​​detected by the acceleration sensor 212 and the detection values ​​detected by the gyro sensor 214, the movement of the robot 20 can be detected with higher accuracy.

[0036] The touch sensor 211, acceleration sensor 212, and gyro sensor 214 detect the strength of contact, acceleration, and angular velocity at synchronized timing (for example, every 0.25 seconds), and output the detected values ​​to the control unit 110.

[0037] The microphone 213 detects sounds around the robot 20. Based on the sound components detected by the microphone 213, the control unit 110 can detect, for example, whether the user is calling out to the robot 20 or clapping their hands.

[0038] The illuminance sensor 215 detects the illuminance around the robot 20. Based on the illuminance detected by the illuminance sensor 215, the control unit 110 can detect whether the area around the robot 20 has become brighter or darker.

[0039] The control unit 110 acquires, via the bus line BL, detection values ​​detected by the various sensors included in the sensor unit 210 as external stimuli. The external stimuli are stimuli that act on the robot 20 from outside the robot 20. Examples of external stimuli include "a loud noise was heard," "someone spoke to me," "someone stroked me," "someone lifted me up," "someone turned upside down," "it became brighter," and "it became darker."

[0040] For example, the control unit 110 acquires external stimuli caused by "a loud noise" or "being spoken to" using the microphone 213, and acquires external stimuli caused by "being stroked" using the touch sensor 211. The control unit 110 also acquires external stimuli caused by "being lifted" or "being turned upside down" using the acceleration sensor 212 and gyro sensor 214, and acquires external stimuli caused by "it getting brighter" or "it getting darker" using the illuminance sensor 215.

[0041] The sensor unit 210 may include sensors other than the touch sensor 211, the acceleration sensor 212, the gyro sensor 214, and the microphone 213. By increasing the types of sensors included in the sensor unit 210, it is possible to increase the types of external stimuli that the control unit 110 can acquire.

[0042] The driving unit 220 includes a twist motor 221 and an up-down motor 222, and is driven by the control unit 110. The twist motor 221 is a servo motor for rotating the head 204 in the left-right direction (width direction) relative to the body 206 around the front-to-back direction as an axis. The up-down motor 222 is a servo motor for rotating the head 204 in the up-down direction (height direction) relative to the body 206 around the left-to-right direction as an axis. The robot 20 can express the action of twisting the head 204 sideways by using the twist motor 221, and can express the action of raising and lowering the head 204 by using the up-down motor 222.

[0043] The output unit 230 includes a speaker 231, and when the control unit 110 inputs sound data to the output unit 230, sound is output from the speaker 231. For example, when the control unit 110 inputs data on the cry of the robot 20 to the output unit 230, the robot 20 emits a pseudo cry.

[0044] Note that instead of or in addition to speaker 231, output unit 230 may be provided with a display such as a liquid crystal display or a light-emitting unit such as an LED (Light Emitting Diode), and emotions such as joy and sadness may be displayed on the display or expressed by the color and brightness of the emitted light.

[0045] The operation unit 240 includes operation buttons, a volume knob, etc. The operation unit 240 is an interface for accepting user operations such as turning the power on and off, adjusting the volume of the output sound, etc.

[0046] The battery 250 is a rechargeable secondary battery that stores the power used by the robot 20. The battery 250 is charged when the robot 20 moves to a charging station.

[0047] The position information acquisition unit 260 is equipped with a position information sensor such as a GPS (Global Positioning System) and acquires current position information of the robot 20. Note that the position information acquisition unit 260 may acquire the position information of the robot 20 by a general method using wireless communication, not limited to GPS, or may acquire the position information of the robot 20 through application software of the terminal device 50.

[0048] Control unit 110 functionally comprises state parameter acquisition unit 112, which is an example of state parameter acquisition means, and gesture control unit 113, which is an example of gesture control means. In control unit 110, a CPU reads a program stored in ROM into RAM, and executes and controls the program, thereby functioning as each of these units. The storage unit 120 also stores gesture information 121, state parameters 122, and a coefficient table .

[0049] Next, the configuration of the terminal device 50 will be described with reference to Fig. 9. The terminal device 50 is an operation terminal operated by a user. The terminal device 50 is, for example, a general-purpose information processing device such as a smartphone, a tablet terminal, or a wearable terminal. As shown in Fig. 9, the terminal device 50 includes a control unit 510, a storage unit 520, an operation unit 530, a display unit 540, a communication unit 550, and an imaging unit 560.

[0050] The control unit 510 includes a CPU. In the control unit 110, the CPU reads out a control program stored in a ROM and controls the overall operation of the terminal device 50 while using a RAM as a work memory. The control unit 510 may also be called a "processor."

[0051] The storage unit 520 includes a ROM, a RAM, a flash memory, etc. The storage unit 520 stores programs and data used by the control unit 510 to perform various processes. The storage unit 520 also stores data generated or acquired by the control unit 510 as a result of performing various processes.

[0052] The operation unit 530 includes an input device such as a touch panel, a touch pad, or physical buttons, and receives operation inputs from the user.

[0053] Display unit 540 includes a display device such as a liquid crystal display, and displays various images under the control of control unit 510. Display unit 540 is an example of a display means.

[0054] The communication unit 550 includes a communication interface for communicating with devices external to the terminal device 50. For example, the communication unit 550 communicates with external devices including the robot 20 in accordance with well-known communication standards such as wireless LAN, BLE (registered trademark), and NFC.

[0055] The photographing unit 560 is a so-called camera that photographs a subject, including the robot 20, to obtain a photographed image of the subject. Specifically, the photographing unit 560 includes a lens that collects light emitted from the subject, an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor) that receives the collected light and obtains an image of the subject, and an A / D (Analog / Digital) converter that converts data indicating the image sent as an electrical signal from the imaging element into digital data. The photographed image taken by the photographing unit 560 may be a still image or a moving image. The photographing unit 560 is an example of a photographing means.

[0056] The control unit 510 functionally includes an imaging control unit 513, which is an example of an imaging control means, and a gesture selection unit 514, which is an example of a gesture selection means. In the control unit 510, the CPU reads a program stored in the ROM into the RAM and executes and controls the program, thereby functioning as each of these units. In addition, the storage unit 520 stores gesture information 121.

[0057] Returning to Fig. 8, in the control device 100 of the robot 20, the state parameter acquisition unit 112 acquires state parameters 122. The state parameters 122 are parameters for representing the state of the robot 20. Specifically, the state parameters 122 include (1) emotion parameters, (2) personality parameters, (3) remaining battery power, (4) current location, (5) current time, and (6) number of days for growth (number of days for raising).

[0058] (1) Emotion parameters The emotion parameters are parameters that represent simulated emotions of the robot 20. The emotion parameters are expressed by coordinates (X, Y) on the emotion map 300.

[0059] As shown in Figure 10, the emotion map 300 is represented by a two-dimensional coordinate system with the X axis representing relief (anxiety) and the Y axis representing excitement (lethargy). The origin (0,0) on the emotion map represents normal emotions. The larger the absolute value of the X coordinate (X value), the more positive the X coordinate value, the higher the relief emotion, and the larger the absolute value of the negative coordinate value, the higher the anxiety emotion. The larger the absolute value of the Y coordinate (Y value), the more positive the Y coordinate value, the higher the excitement emotion, and the larger the absolute value of the negative coordinate value, the higher the lethargy emotion.

[0060] The emotion parameters represent multiple (four in this embodiment) different pseudo-emotions. In Fig. 10, of the values ​​representing the pseudo-emotions, the relief and anxiety levels are shown together on one axis (X-axis), and the excitement and lethargy levels are shown together on another axis (Y-axis). Therefore, the emotion parameters have two values: an X value (relief, anxiety level) and a Y value (excitement, lethargy level), and the points on the emotion map 300 represented by the X and Y values ​​represent the pseudo-emotions of the robot 20. The initial values ​​of the emotion parameters are (0,0). Although the emotion map 300 is shown in a two-dimensional coordinate system in FIG. 10, the emotion map 300 may have any number of dimensions, for example, one dimension or three dimensions.

[0061] State parameter acquisition section 112 calculates the emotion change amount, which is the amount of change that increases or decreases the X and Y values ​​of the emotion parameter. The emotion change amount is expressed by the following four variables. DXP: Ease of feeling at ease (the tendency for the X value on the emotion map to change in a positive direction) DXM: Anxiety (the tendency for the X value on the emotional map to change in a negative direction) DYP: Excitability (the tendency for the Y value on the emotion map to change in a positive direction) DYM: Tendency to become lethargic (the tendency for the Y value on the emotion map to change in the negative direction)

[0062] The state parameter acquisition unit 112 updates the emotion parameters by adding or subtracting a value corresponding to the external stimulus from the emotion variations DXP, DXM, DYP, and DYM to the current emotion parameters. For example, when the head 204 is stroked, the simulated emotion of the robot 20 is one of relief, so the state parameter acquisition unit 112 adds DXP to the X value of the emotion parameter. Conversely, when the head 204 is hit, the simulated emotion of the robot 20 is one of anxiety, so the state parameter acquisition unit 112 subtracts DXM from the X value of the emotion parameter. It is possible to arbitrarily set what emotion variations correspond to various external stimuli. An example is shown below. Petting the head 204 (feels reassuring): X = X + DXP Hit on the head 204 (makes me anxious): X=X-DXM (These external stimuli can be detected by the touch sensor 211 on the head 204.) Body part 206 is stroked (excited): Y=Y+DYP Hitting the torso 206 (becoming lethargic): Y=Y-DYM (These external stimuli can be detected by the touch sensor 211 on the body 206.) Being held with head up (happy): X=X+DXP and Y=Y+DYP Hanging head down (sad): X=X-DXM and Y=Y-DYM (These external stimuli can be detected by the touch sensor 211 and the acceleration sensor 212.) A gentle voice calls out to you (becomes peaceful): X=X+DXP and Y=Y-DYM Being yelled at loudly (irritating): X=X-DXM and Y=Y+DYP (These external stimuli can be detected by microphone 213)

[0063] Sensor section 210 acquires a plurality of different types of external stimuli using a plurality of sensors. State parameter acquisition section 112 derives various amounts of emotion change in response to each of the plurality of external stimuli, and sets emotion parameters in response to the derived amounts of emotion change.

[0064] The initial value of each of the emotion variation amounts DXP, DXM, DYP, and DYM is 10 and can increase up to a maximum of 20. State parameter acquisition unit 112 updates each variable of emotion variation amounts DXP, DXM, DYP, and DYM in response to external stimuli detected by sensor unit 210. Specifically, state parameter acquisition unit 112 adds 1 to DXP if the emotion parameter X value is set to the maximum value of emotion map 300 at least once in a day, and adds 1 to DYP if the emotion parameter Y value is set to the maximum value of emotion map 300 at least once in a day. Furthermore, state parameter acquisition unit 112 adds 1 to DXM if the emotion parameter X value is set to the minimum value of emotion map 300 at least once in a day, and adds 1 to DYM if the emotion parameter Y value is set to the minimum value of emotion map 300 at least once in a day.

[0065] In this way, the state parameter acquisition unit 112 changes the emotion change amount in accordance with a condition based on whether the emotion parameter value has reached the maximum or minimum value of the emotion map 300. This update process changes the emotion change amount, i.e., the degree of change in emotion. For example, if only the head 204 is stroked repeatedly, only the emotion change amount DXP increases, while the other emotion change amounts remain unchanged, so the robot 20 develops a reassuring personality. On the other hand, if only the head 204 is hit repeatedly, only the emotion change amount DXM increases, while the other emotion change amounts remain unchanged, so the robot 20 develops a personality that is prone to anxiety. In this way, the state parameter acquisition unit 112 changes the emotion change amount in accordance with various external stimuli.

[0066] (2) Personality parameters The personality parameters are parameters that represent the simulated personality of the robot 20. The personality parameters include a plurality of personality values ​​that respectively represent different degrees of personality. The state parameter acquisition unit 112 changes the plurality of personality values ​​included in the personality parameters in response to external stimuli detected by the sensor unit 210.

[0067] Specifically, the state parameter acquisition unit 112 calculates the four personality values ​​according to the following (Equation 1): That is, the personality value (cheerful) is calculated by subtracting 10 from DXP, which indicates how easily one feels at ease; the personality value (shy) is calculated by subtracting 10 from DXM, which indicates how easily one becomes anxious; the personality value (active) is calculated by subtracting 10 from DYP, which indicates how easily one becomes excited; and the personality value (spoiled) is calculated by subtracting 10 from DYM, which indicates how easily one becomes lethargic. Personality (cheerful) = DXP-10 Personality score (shy) = DXM-10 Personality score (active) = DYP-10 Personality score (spoiled) = DYM-10 …(Formula 1)

[0068] 11, a personality value radar chart 400 can be generated by plotting the personality value (cheerful) on the first axis, the personality value (active) on the second axis, the personality value (shy) on the third axis, and the personality value (spoiled) on the fourth axis. Each variable of the amount of emotional change has an initial value of 10 and can increase up to a maximum of 20, so the range of the personality value is between 0 and 10.

[0069] Since the initial value of each personality value is 0, the personality of the robot 20 at birth is represented by the origin of the personality value radar chart 400. Then, as the robot 20 grows, the four personality values ​​change up to an upper limit of 10 depending on external stimuli (how the user interacts with the robot 20) detected by the sensor unit 210. This allows for the expression of 11 to the fourth power = 14641 different personalities. In this way, the robot 20 has various personalities depending on how the user interacts with the robot 20. In other words, the personality of the robot 20 is formed differently for each individual depending on how the user interacts with the robot 20.

[0070] These four personality values ​​are fixed when the child period has passed and the simulated growth of the robot 20 is completed. In order to correct the personality in the subsequent adult period according to the user's interaction with the robot 20, the state parameter acquisition unit 112 adjusts the four personality correction values ​​(cheerful correction value, active correction value, shy correction value, and clingy correction value).

[0071] State parameter acquisition section 112 adjusts the four personality correction values ​​according to conditions based on the area on emotion map 300 where the emotion parameter has existed for the longest time. Specifically, the four personality correction values ​​are adjusted as follows (A) to (E): (A) If the longest presence area is a safe area on the emotion map 300, the state parameter acquisition unit 112 adds 1 to the cheerful correction value and subtracts 1 from the shy correction value. (B) If the longest presence area is an excited area on the emotion map 300, the state parameter acquisition unit 112 adds 1 to the active correction value and subtracts 1 from the spoiled child correction value. (C) If the longest existing area is an anxious area on the emotion map 300, the state parameter acquisition unit 112 adds 1 to the shy correction value and subtracts 1 from the cheerful correction value. (D) If the longest presence area is a lethargic area on the emotion map 300, the state parameter acquisition unit 112 adds 1 to the spoiled child correction value and subtracts 1 from the active correction value. (E) If the longest presence area is the central area on the emotion map 300, the state parameter acquisition section 112 decreases the absolute values ​​of all four personality correction values ​​by one.

[0072] When the four character correction values ​​are set, the state parameter acquisition unit 112 calculates the four character values ​​according to the following (Equation 2). Personality (cheerful) = DXP-10 + cheerfulness correction value Personality score (shy) = DXM-10 + shyness correction value Personality score (active) = DYP-10 + activeness correction value Personality score (spoiled) = DYM-10 + spoiled correction value …(Formula 2)

[0073] (3) Battery level The remaining battery capacity is the remaining amount of power stored in the battery 250, and is a parameter that indicates the pseudo hunger level of the robot 20. The state parameter acquisition unit 112 acquires information about the current remaining battery capacity from a power supply control unit that controls charging and discharging of the battery 250.

[0074] (4) Current location The current location is the location where the robot 20 is currently located. The state parameter acquisition unit 112 acquires information on the current location of the robot 20 using the position information acquisition unit 260.

[0075] More specifically, the state parameter acquisition unit 112 refers to the past position information of the robot 20.

[0076] If the current location matches the location most frequently recorded, the state parameter acquisition unit 112 determines that the current location is home. If the current location is not home, the state parameter acquisition unit 112 determines whether the current location is a new location, a familiar location, or a less familiar location based on the number of times the location has been recorded in the past, and acquires the determination information. For example, if the number of times the location has been recorded in the past is five or more, the state parameter acquisition unit 112 determines that the current location is a familiar location, and if the number of times the location has been recorded in the past is less than five, the state parameter acquisition unit 112 determines that the current location is a less familiar location.

[0077] (5)Current time The current time is the current time. The state parameter acquisition unit 112 acquires the current time from a clock mounted on the robot 20. Note that, like the acquisition of position information, the acquisition of the current time is not limited to this method. More specifically, the state parameter acquisition unit 112 refers to the log of the robot 20's simulated sleep ON / OFF to determine whether the current time is immediately after today's wake-up time, immediately before bedtime, or during a nap time.

[0078] (6) Number of days for growth (number of days for development) The number of days of growth represents the number of days of pseudo-growth of the robot 20. The robot 20 is pseudo-born when the user starts it for the first time after shipping from the factory, and grows from a child to an adult over a predetermined growth period. The number of days of growth corresponds to the number of days from the pseudo-birth of the robot 20.

[0079] The initial value of the number of days of growth is 1, and the state parameter acquisition unit 112 adds 1 to the number of days of growth each time a day passes. The growth period in which the robot 20 grows from a child to an adult is, for example, 50 days, and the period of 50 days of growth from the simulated birth is referred to as the "child period (first period)." When the child period has elapsed, the simulated growth of the robot 20 is completed. The period after the child period is completed is referred to as the "adult period (second period)."

[0080] During the childhood period, the state parameter acquisition unit 112 increases both the maximum and minimum values ​​of the emotion map 300 by 2 each time the number of days of simulated growth of the robot 20 increases by one day. The initial size of the emotion map 300 has a maximum value of 100 and a minimum value of -100 for both the X and Y values, as shown in frame 301. When the number of days of growth has reached half the childhood period (for example, 25 days), the maximum value of both the X and Y values ​​becomes 150 and the minimum value becomes -150, as shown in frame 302. When the childhood period has passed, the simulated growth of the robot 20 stops. At this time, the maximum value of both the X and Y values ​​becomes 200 and the minimum value becomes -200, as shown in frame 303. Thereafter, the size of the emotion map 300 is fixed.

[0081] The settable range of emotion parameters is determined by emotion map 300. Therefore, the settable range of emotion parameters expands as the size of emotion map 300 expands. Expanding the settable range of emotion parameters enables a richer range of emotion expression, and so the pseudo-growth of robot 20 is expressed by expanding the size of emotion map 300.

[0082] Returning to FIG. 8, the gesture control unit 113 causes the robot 20 to perform various gestures according to the situation based on the gesture information 121. The gesture information 121 is information that determines the gestures to be performed by the robot 20. Here, the gestures are the behavior, actions, etc. of the robot 20. Specifically, as shown in FIG. 12, the gestures include "bowing head," "peep," "shaking head," "surprised," "happy," "sad," etc. In addition to the gestures shown in FIG. 12, various other gestures can be mentioned, such as "laughing," "getting angry," "sneezing," "breathing," etc. Each gesture is composed of a combination of multiple elements, each of which is a movement or a voice output.

[0083] The movement means a physical movement (motion) of the robot 20 that is executed by driving the driving unit 220. Specifically, the movement corresponds to moving the head 204 relative to the body 206 by the twist motor 221 or the up / down motor 222. The audio output means outputting various sounds, such as cries, from the speaker 231 of the output unit 230.

[0084] As shown in Fig. 12, the gesture information 121 defines gesture control parameters for each of a plurality of gestures that the robot 20 can perform. The gesture control parameters are parameters for causing the robot 20 to perform each gesture. The gesture control parameters define, for each element constituting a gesture, a movement parameter or a cry parameter, and the time (in milliseconds) for performing that element. The movement parameters define the movement angle of the twist motor 221 and the movement angle of the up / down motor 222. The cry parameters define the sound and volume.

[0085] As an example, when the robot 20 is made to perform the gesture of "bowing its head," the gesture control unit 113 first controls the twist motor 221 and the up-down motor 222 so that their angles become 0 after 100 milliseconds, and then controls the up-down motor 222 so that its angle becomes -45 after another 100 milliseconds. When the robot 20 is made to perform the gesture of "peep," the gesture control unit 113 outputs a "peep" sound from the speaker 231 at a volume of 60 dB for 300 milliseconds. When the robot 20 is made to perform the gesture of "shaking its head," the gesture control unit 113 first controls the twist motor 221 and the up-down motor 222 so that their angles become 0 after 100 milliseconds, and then controls the drive unit 220 so that the angle of the twist motor 221 becomes 34 after another 100 milliseconds.

[0086] 12 defines more complex gestures such as "surprise," "happiness," and "sadness." When the robot 20 is made to make the gesture of "surprise," the gesture control unit 113 first controls the twist motor 221 and the up-down motor 222 so that their angles become 0 after 100 milliseconds, and then controls the up-down motor 222 so that its angle becomes -24 after 100 milliseconds. The gesture control unit 113 then does not rotate the motors for 700 milliseconds, and then controls the twist motor 221 so that its angle becomes 34 and the up-down motor 222 so that its angle becomes -24 after 500 milliseconds. The gesture control unit 113 then controls the twist motor 221 so that its angle becomes -34 after 400 milliseconds, and then controls the twist motor 221 so that its angle becomes -34 after 500 milliseconds. Furthermore, in parallel with driving the twist motor 221 and the up / down motor 222, the gesture control unit 113 outputs a sound "Eek!" at a volume of 70 dB from the speaker 231. Note that gesture control parameters for gestures such as "happy" and "sad" are omitted in Fig. 12, but, like "surprise," these are determined by a combination of the movement (motion) of the twist motor 221 or the up / down motor 222 and the sound output (cry) from the speaker 231.

[0087] The gesture information 121 defines the gesture to be performed by the robot 20 by combining such actions (motions) or sound outputs (cries). The gesture information 121 may be pre-installed in the robot 20. Alternatively, the gesture information 121 may be freely created by the user operating the terminal device 50.

[0088] Each gesture defined in the gesture information 121 is associated in advance with a trigger, which is a condition for the robot 20 to perform the gesture. The trigger can be various conditions, specifically, such as "being called," "being stroked," "being lifted," "being turned upside down," "it gets brighter," or "it gets dark." These triggers are triggers based on external stimuli and are detected by the sensor unit 210. For example, "being called" is detected by the microphone 213. "being stroked" is detected by the touch sensor 211. "being lifted" and "being turned upside down" are detected by the acceleration sensor 212 or the gyro sensor 214. "it gets brighter" and "it gets dark" are detected by the illuminance sensor 215. Note that the trigger may not be based on an external stimuli, such as "a specific time has arrived" or "the robot 20 has moved to a specific location."

[0089] The gesture control unit 113 determines whether or not any of the multiple gesture triggers defined in the gesture information 121 has been established based on the detection result by the sensor unit 210, etc. If any of the triggers has been established as a result of the determination, the gesture control unit 113 causes the robot 20 to perform the gesture corresponding to the established trigger.

[0090] More specifically, the gesture control unit 113 corrects the gesture control parameters identified from the gesture information 121 based on the state parameters 122 acquired by the state parameter acquisition unit 112. This allows the gestures of the robot 20 to be changed according to the current state of the robot 20, thereby realistically imitating a living creature.

[0091] To correct the gesture control parameters, the gesture control unit 113 refers to the coefficient table 124. As shown in Figures 13 and 14, the coefficient table 124 defines a correction coefficient for each of the state parameters 122, namely, (1) emotion parameter, (2) personality parameter, (3) remaining battery level, (4) current location, and (5) current time. Although not shown, the coefficient table 124 may also define a correction coefficient for (6) number of days of growth.

[0092] The correction coefficients are coefficients for correcting gesture control parameters identified from the gesture information 121. Specifically, the correction coefficients are determined by the action direction and weighting coefficients for the speed and amplitude of the up-down movement by the up-down motor 222, the speed and amplitude of the left-right movement by the twist motor 221, and the movement start time lag.

[0093] More specifically, the gesture control unit 113 determines which of the following (1) to (5) corresponds to the current state of the robot 20 indicated by the state parameters 122 acquired by the state parameter acquisition unit 112. Then, the gesture control unit 113 corrects the gesture control parameters using a correction coefficient corresponding to the current state of the robot 20. (1) Whether the current emotional parameter of the robot 20 corresponds to joy, frustration, sadness, lethargy, or normal. In other words, whether the coordinates (X, Y) representing the emotional parameter are located in the areas marked "joy," "irritation," "sadness," "lethargy," or "normal" on the emotional map 300 shown in FIG. 10. (2) Which of the following personality parameters does the robot 20 currently have? Cheerful, lively, shy, or clingy? In other words, which of the four personality values, cheerful, lively, shy, or clingy, is the largest? (3) Whether the current battery level of the robot 20 is 70% or more, between 70% and 30%, or 30% or less. (4) Whether the current location of the robot 20 is at home, a familiar location, an unfamiliar location, or a new location. (5) Whether the current time is just after waking up, during a nap, or just before going to bed.

[0094] 14, when the current time corresponds to the time immediately after waking up, the action direction for both the speed and amplitude of the up-down movement and the left-right movement is set to "-" and the weighting coefficient is set to "0.2." Therefore, the gesture control unit 113 lengthens the movement time by 20% and shortens the movement distance by 20% based on the values ​​acquired from the gesture information 121. In other words, the gesture control unit 113 makes the movement of the robot 20 20% slower and 20% shorter than usual.

[0095] 14, the coefficient table 124 defines the action direction of the action start time lag as "+" and the weighting coefficient as "0.2." Therefore, the gesture control unit 113 delays the execution start timing by 20% from the normal timing based on the value set in the gesture information 121. By making corrections using such correction coefficients, it is possible to express that a gesture is performed slightly slower than normal when the user is in a drowsy state immediately after waking up.

[0096] In addition to (5) the current time, the gesture control unit 113 also identifies correction coefficients for the corresponding states of (1) emotion parameters, (2) personality parameters, (3) remaining battery level, and (4) current location from the coefficient table 124. The gesture control unit 113 then corrects the gesture control parameters using the sum of the corresponding correction coefficients for (1) to (5).

[0097] As a specific example, we will explain a case where (1) the current emotion parameter corresponds to joy, (2) the current personality parameter corresponds to cheerfulness, (3) the current battery level corresponds to 30% or less, (4) the current location corresponds to a new location, and (5) the current time corresponds to immediately after waking up.

[0098] 13 and 14, the sum of the correction coefficients for the speed and amplitude of the up-down movement is calculated as "+0.2+0.1-0.3-0.2-0.2=-0.4," and the sum of the correction coefficients for the speed and amplitude of the left-right movement is calculated as "+0.2+0-0.3-0.2-0.2=-0.5." Therefore, the gesture control unit 113 lengthens the movement time of the up-down motor 222 by 40% and shortens the movement distance by 40% based on the value set in the gesture information 121. Furthermore, the gesture control unit 113 lengthens the movement time of the twist motor 221 by 50% and shortens the movement distance by 50% based on the value acquired from the gesture information 121.

[0099] The sum of the correction coefficients for the action start time lag is calculated as +0+0+0.3+0.2+0.2=+0.7. Therefore, the gesture control unit 113 delays the execution start timing by 70% compared to normal, using the value acquired from the gesture information 121 as a reference.

[0100] Although not shown, the coefficient table 124 also defines correction coefficients for cries, similar to those for actions. Specifically, the gesture control unit 113 corrects the volume, which is a cries parameter set for the gesture corresponding to the established trigger in the gesture information 121, using a correction coefficient corresponding to the state parameter 122 acquired by the state parameter acquisition unit 112.

[0101] In this way, the gesture control unit 113 corrects the gesture control parameter based on the state parameter 122 acquired by the state parameter acquisition unit 112. Then, the gesture control unit 113 drives the drive unit 220 based on the corrected gesture control parameter or outputs sound from the speaker 231, thereby causing the robot 20 to perform a gesture corresponding to the established trigger. By correcting the gesture control parameter based on the state parameter 122, even when the robot 20 performs the same gesture, the gesture to be performed varies depending on the current state of the robot 20 (emotion, personality, remaining battery level, current location, current time, etc.). For example, even when the robot 20 performs the same gesture of "joy," the gesture to be performed differs depending on whether the simulated emotion corresponds to "joy" or "irritation." This prevents the gestures from becoming uniform, allowing individuality to be expressed.

[0102] Next, the flow of the robot control process will be described with reference to Fig. 15. The robot control process shown in Fig. 15 is executed by the control unit 110 of the control device 100 when the user turns on the power of the robot 20. The robot control process is an example of a control method for an electronic device.

[0103] When the robot control process is started, the control unit 110 sets the state parameters 122 (step S101). When the robot 20 is started for the first time (when the robot is started for the first time by the user after being shipped from the factory), the control unit 110 sets each of the emotion parameters, personality parameters, and number of days to an initial value (for example, 0). On the other hand, when the robot 20 is started for the second time or later, the control unit 110 reads out the values ​​of each parameter saved in step S106 (described later) of the previous robot control process and sets them as the state parameters 122. However, the emotion parameters may all be initialized to 0 each time the power is turned on.

[0104] After setting the state parameters 122, the control unit 110 acquires the gesture information 121 (step S102). For example, the control unit 110 communicates with the terminal device 50 and acquires the gesture information 121 created on the basis of a user operation in the terminal device 50. Note that if the gesture information 121 has already been saved in the storage unit 120, step S102 may be skipped.

[0105] When the gesture information 121 is acquired, the control unit 110 determines whether or not any of the triggers of the plurality of gestures defined in the gesture information 121 has been established (step S103).

[0106] If any of the triggers is established (step S103; YES), the control unit 110 executes a gesture control process to cause the robot 20 to execute a gesture corresponding to the established trigger (step S104). Details of the gesture control process in step S104 will be described with reference to the flowchart in Fig. 16. Step S104 is an example of a control step.

[0107] When the gesture control process shown in FIG. 16 starts, control unit 110 updates state parameters 122 (step S201). Specifically, if the trigger established in step S103 is due to an external stimulus, control unit 110 derives an emotion change amount corresponding to that external stimulus. Control unit 110 then updates the emotion parameters by adding or subtracting the derived emotion change amount from the current emotion parameters. Furthermore, during the child period, control unit 110 calculates each personality value of the personality parameters from the emotion change amount updated in step S108 according to the above-mentioned (Equation 1). On the other hand, during the adult period, control unit 110 calculates each personality value of the personality parameters from the emotion change amount updated in step S108 and the personality correction value according to the above-mentioned (Equation 2).

[0108] After updating the state parameters 122, the control unit 110 refers to the gesture information 121 and acquires gesture control parameters of the gesture corresponding to the established trigger (step S202). Specifically, the control unit 110 acquires, from the gesture information 121, the movement parameters or cry parameters of the elements constituting the gesture corresponding to the established trigger and the execution times thereof.

[0109] When the gesture control parameters are acquired, the control unit 110 corrects the gesture control parameters based on the correction coefficients defined in the coefficient table 124 (step S203). Specifically, the control unit 110 calculates the sum of the correction coefficients corresponding to the state parameters 122 updated in step S201, among the correction coefficients defined in the coefficient table 124 for (1) emotion parameters, (2) personality parameters, (3) remaining battery level, (4) current location, and (5) current time. The control unit 110 then corrects the movement parameters, cry parameters, and execution start timing using the calculated sum of the correction coefficients.

[0110] After correcting the gesture control parameter, the control unit 110 executes the gesture corresponding to the established trigger (step S204). Specifically, the control unit 110 drives the driving unit 220 or outputs sound from the speaker 231 in accordance with the gesture control parameter corrected in step S203. This completes the gesture control process shown in FIG. 16.

[0111] Returning to FIG. 15, in step S103, if none of the multiple gesture triggers is established (step S103; NO), control unit 110 skips step S104.

[0112] Next, the control unit 110 determines whether or not to end the process (step S105). For example, the process ends when the operation unit 240 receives an instruction from the user to power off the robot 20. If the process ends (step S105; YES), the control unit 110 saves the current state parameters 122 in the nonvolatile memory of the storage unit 120 (step S106), and ends the robot control process shown in FIG.

[0113] If the process does not end (step S105; NO), the control unit 110 determines whether the date has changed using the clock function (step S107). If the date has not changed (step S107; NO), the process returns to step S103.

[0114] If the date has changed (step S107; YES), control unit 110 updates state parameters 122 (step S108). Specifically, if the child is in the childhood period (for example, 50 days after birth), control unit 110 changes the values ​​of emotion variations DXP, DXM, DYP, and DYM depending on whether the emotion parameters have reached the maximum or minimum values ​​of emotion map 300. Also, if the child is in the childhood period, control unit 110 expands both the maximum and minimum values ​​of emotion map 300 by a predetermined increment (for example, 2). On the other hand, if the child is in the adult period, control unit 110 adjusts the personality correction value.

[0115] After updating the state parameter 122, the control unit 110 adds 1 to the number of days for growth (step S109) and returns to step S103. Then, the control unit 110 repeats the processes from step S103 to step S109 as long as the robot 20 is operating normally.

[0116] <Shooting mode> Next, a shooting mode will be described in which parameters such as personality parameters and growth parameters are set as described above, and the robot 20 performs various actions according to the parameters as a shooting target, and video is shot by the shooting unit 560 of the terminal device 50. In the shooting mode, the terminal device 50 is an example of a shooting device connected to be able to communicate with the robot 20 as a shooting target, and the robot system 1 is an example of a shooting system.

[0117] 9, the photographing control unit 513 controls photographing by the photographing unit 560. Specifically, the photographing control unit 513 controls the photographing unit 560 to cause the robot 20, which is the subject of photographing, to photograph a moving image.

[0118] 17, the user points the image capturing unit 560 of the terminal device 50 toward the robot 20 and captures an image of the robot 20 using the image capturing unit 560. At this time, when the user operates the operation unit 530 of the terminal device 50 to start application software for capturing video, the image capturing control unit 513 starts the image capturing mode.

[0119] In the photographing mode, the photographing control unit 513 displays a photographing mode screen shown in Fig. 17 on the display unit 540. The photographing control unit 513 displays a preview image photographed by the photographing unit 560 on the photographing mode screen.

[0120] When the photographing mode is started, the photographing control unit 513 transmits a notification indicating that the photographing mode has been started to the control device 100 of the robot 20 via the communication unit 550. More specifically, after starting the photographing mode, if the inclination of the terminal device 50 becomes suitable for photographing and the presence of the robot 20 is recognized by image recognition in the photographed image obtained by preview photographing, the photographing control unit 513 transmits a notification indicating that the photographing mode has been started to the robot 20. Note that the inclination suitable for photographing is an orientation of the terminal device 50 that is usually likely to occur when photographing, and corresponds to, for example, the orientation of the terminal device 50 when the photographing direction of the photographing unit 560 is within a predetermined range from the horizontal direction.

[0121] In the control device 100 of the robot 20, the gesture control unit 113, upon receiving a notification from the terminal device 50, causes the robot 20 to perform a pre-photographing gesture. Here, the pre-photographing gesture is a gesture that the robot 20 performs before shooting a video. The gesture control unit 113 performs the pre-photographing gesture continuously, intermittently, or at random intervals from when the notification of the start of the shooting mode is received until when video shooting starts.

[0122] For example, when the shy personality value among the personality parameters of the robot 20 is the maximum, or when the current location of the robot 20 is a new location, the gesture control unit 113 causes the robot 20 to perform a gesture expressing embarrassment as a pre-photographing gesture. Alternatively, when the active personality value is the maximum, the gesture control unit 113 causes the robot 20 to perform a gesture expressing a pose encouraging photography as a pre-photographing gesture. In this case, the gesture control unit 113 may control the type of pre-photographing gesture, the magnitude of the movement, and the like, to produce a level of embarrassment according to the level of the shy personality value, for example.

[0123] In this way, the gesture control unit 113 causes the robot 20 to perform various different gestures depending on the state parameters 122, such as emotion parameters, personality parameters, remaining battery level, current location, and current time. The gesture control unit 113 may change the pre-photographing gesture based on only one of the state parameters 122, or may change the pre-photographing gesture based on multiple parameters. Furthermore, the gesture control unit 113 may correct the gesture control parameter for the pre-photographing gesture based on the coefficient table 124, as described above.

[0124] Returning to FIG. 9 , in the terminal device 50, the gesture selection unit 514 selects a gesture to be performed by the robot 20, which is the subject of the video recording, when shooting a video. The gesture to be performed by the robot 20 when shooting a video can be selected from a plurality of gestures that the robot 20 can perform by voice input or a menu display. The plurality of gestures that the robot 20 can perform are gestures such as "bowing its head," "peeping," and "shaking its head," which are defined in the gesture information 121. The gesture information 121 is stored in the memory unit 120 of the robot 20, but is also shared with the memory unit 520 of the terminal device 50. The gesture selection unit 514 refers to the gesture information 121 stored in the memory unit 520 when selecting a gesture.

[0125] First, when selecting a gesture by voice input, the user selects (tap) a microphone-shaped icon A1 on the shooting mode screen shown in FIG. 17 and vocalizes the name of a gesture that the user wants the robot 20 to perform. The gesture selection unit 514 detects the voice uttered by the user through a microphone (not shown) provided in the terminal device 50. Then, the gesture selection unit 514 determines, by voice recognition, whether or not the voice detected by the microphone includes any of the names of a plurality of gestures that the robot 20 can perform. Here, the gesture name is a word for identifying each gesture, such as "bow head," "peep," "shake head," "surprised," "happy," "sad," etc. If the detected voice includes any of the names of the gestures, the gesture selection unit 514 selects the gesture with that name as the gesture to be performed by the robot 20.

[0126] Second, when selecting a gesture from a menu display, the user selects the "gesture menu" icon A2 on the shooting mode screen shown in Fig. 17. Then, the names of multiple gestures that the robot 20 can perform are displayed, for example, in a pull-down format. The user selects the name of the gesture that the user wants the robot 20 to perform from the displayed multiple gesture names.

[0127] In this way, the gesture selection unit 514 can select a gesture by voice input or menu display. However, in order to reduce the obstruction of the lifelike feeling of the robot 20, it is preferable to select a gesture by voice input.

[0128] It should be noted that when the gesture selection unit 514 selects a gesture by voice input, the user is not limited to inputting a voice that completely matches the name of the gesture to be performed by the robot 20. For example, when selecting the gesture of "shaking his head," the user may input a voice such as "Shake your head!". Or, when selecting the gesture of "peep," the user may input a voice such as "peep!", and when selecting the gesture of "getting happy," the user may input a voice such as "happily!" In this way, even when a voice is input in which some words, such as the ending, are different from the name of the gesture, the gesture selection unit 514 can identify the gesture corresponding to the input voice as long as the difference is sufficient to identify the gesture.

[0129] Alternatively, the user may input a keyword into the microphone that can identify a gesture to be performed by the robot 20. In this case, the gesture selection unit 514 selects a gesture identified from the keyword detected by the microphone as a gesture to be performed by the robot 20. Here, the keyword is a word related to the gesture, such as a synonym of the gesture name or a word associated with the gesture name. At least one keyword is pre-associated with at least some of the multiple gestures defined in the gesture information 121. If the detected voice contains a keyword associated with any of the gestures, the gesture selection unit 514 selects that gesture as a gesture to be performed by the robot 20.

[0130] As an example, the keyword "ghost" is linked to the gesture of "being surprised," and the keyword "2" is linked to the gesture of "making two noises." If a voice saying "A ghost has appeared!" is detected, the gesture selection unit 514 selects the gesture of being surprised as the gesture to be performed by the robot 20. Alternatively, if a voice saying "1+1=?" is detected, the gesture selection unit 514 selects the gesture of making two noises as the gesture to be performed by the robot 20. By recognizing gestures in this selectable manner using keywords, it is possible to give the robot 20 a more lifelike appearance.

[0131] In this way, the gesture selection unit 514 selects at least one gesture to be performed by the robot 20 from among a plurality of gestures that can be performed by the robot 20, by voice input or menu display. For example, the gesture selection unit 514 can simultaneously select three gestures to be performed by the robot 20.

[0132] When at least one gesture is selected by the gesture selection unit 514, the shooting control unit 513 causes the robot 20 to perform the selected at least one gesture and causes the shooting unit 560 to shoot a video of the robot 20. At this time, the shooting control unit 513 causes the shooting unit 560 to shoot a video of the robot 20 for a time length corresponding to the at least one gesture selected by the gesture selection unit 514 so that the robot 20 performing the at least one gesture selected by the gesture selection unit 514 can be filmed from the start to the end of the gesture. Specifically, the shooting control unit 513 sets a shooting time length, which is the length of time required to shoot a video of the at least one selected gesture. The shooting control unit 513 refers to the gesture information 121 to set the shooting time length. As shown in FIG. 12 , the gesture information 121 defines an execution time length for each of a plurality of gestures that the robot 20 can perform. The execution time length of each gesture is the length of time required for the robot 20 to execute that gesture.

[0133] More specifically, the execution time length set for a certain gesture corresponds to the execution time of that element (movement or cry) if the gesture consists of one element, and corresponds to the sum of the execution times of those elements if the gesture consists of multiple elements (movements or cries). For example, the execution time length for a "head bow" gesture is 100 + 100 milliseconds = 200 milliseconds, the execution time length for a "peep" gesture is 300 milliseconds, and the execution time length for a "head shake" gesture is 100 + 100 + 100 milliseconds = 300 milliseconds.

[0134] The photography control unit 513 acquires from the gesture information 121 the execution time length set for each of at least one gesture selected by the gesture selection unit 514, and sets the photography time length. For example, when one gesture is selected by the gesture selection unit 514, the photography control unit 513 sets the execution time length set for that gesture in the gesture information 121, or a length of time obtained by adding a certain amount of grace time to that execution time length, as the photography time length. On the other hand, when multiple gestures are selected by the gesture selection unit 514, the photography control unit 513 sets the sum of the execution time lengths set for each of the multiple gestures in the gesture information 121, or a length of time obtained by adding a certain amount of grace time to that sum of the execution time lengths, as the photography time length. By providing the grace time, even when the time required for the robot 20 to perform a gesture is extended due to correction of the gesture control parameters using the coefficient table 124, the photography control unit 513 can keep the time required for the robot 20 to perform the gesture within the photography time length.

[0135] Next, the shooting control unit 513 receives an instruction to start shooting a video from the user. The user selects (tap) a button to start shooting that is displayed on the shooting mode screen. Alternatively, the user can input a voice command to start shooting, such as "Let's start shooting." In this way, the user inputs an instruction to start shooting a video into the terminal device 50. Based on such a user operation, the shooting control unit 513 receives an instruction to start shooting a video.

[0136] When the instruction to start video shooting is received, the shooting control unit 513 causes the shooting unit 560 to start shooting a video of the robot 20 as the shooting target. Furthermore, the shooting control unit 513 transmits an execution command to the robot 20, which is the shooting target, to cause the robot 20 to perform the gesture selected by the gesture selection unit 514, at a timing linked to the timing of the start of video shooting.

[0137] The execution command is a command to make the robot 20 start performing the gesture selected by the gesture selection unit 514 at a timing based on the timing when the image capture unit 560 starts capturing video. The execution command includes information on the name of at least one gesture selected by the gesture selection unit 514. Note that the execution command may include information such as a number or ID instead of the name of the gesture, as long as it is information that can uniquely identify at least one gesture selected by the gesture selection unit 514.

[0138] The timing at which the robot 20 starts performing the gesture selected by the gesture selection unit 514 is adjusted based on the timing at which the image capture unit 560 captures the video so that the robot 20 performing the gesture can be captured in a video from start to finish. Specifically, the image capture control unit 513 adjusts the timing at which the image capture unit 560 starts capturing the video and the timing at which the robot 20 starts performing the gesture so that the timing at which the robot 20 starts capturing the video is the same as or slightly later than the timing at which the image capture unit 560 starts capturing the video. After causing the image capture unit 560 to start capturing the video, the image capture control unit 513 transmits an execution command to the robot 20 at the same timing as or slightly later than the timing at which the image capture unit 560 starts capturing the video.

[0139] In the control device 100 of the robot 20, when the gesture control unit 113 receives an execution command from the terminal device 50, it causes the robot 20 to execute the gesture of the gesture name indicated in the received execution command. In other words, the gesture control unit 113 causes the robot 20 to start the gesture selected by the gesture selection unit 514 at a timing based on the timing when the image capture unit 560 starts capturing video. Note that when multiple gestures are selected by the gesture selection unit 514, the gesture control unit 113 causes the robot 20 to execute the multiple gestures in order.

[0140] At this time, the gesture control unit 113 acquires gesture control parameters of the gesture instructed to be executed from the gesture information 121, in the same manner as when any trigger is established in modes other than the photographing mode, and corrects the gesture control parameters using correction coefficients defined in the coefficient table 124 shown in FIGS. 13 and 14. At this time, the gesture control unit 113 corrects the gesture control parameters using correction coefficients corresponding to the state parameters 122 acquired by the state parameter acquisition unit 112. Details of the correction using the correction coefficients are the same as those in the modes other than the photographing mode described above. Then, the gesture control unit 113 causes the robot 20 to execute the gesture instructed to be executed using the corrected gesture control parameters. By correcting the gesture control parameters based on the state parameters 122 in this way, even when the robot 20 executes the same gesture, the gesture to be executed varies depending on the current state of the robot 20 (emotion, personality, remaining battery level, current location, current time, etc.).

[0141] In this way, the gestures that the gesture control unit 113 causes the robot 20 to perform change depending on the current state parameters 122 and growth parameters of the robot 20. Therefore, it is possible to perform gestures that reflect the robot's individuality and are not uniform.

[0142] In the terminal device 50, the photographing control unit 513 causes the photographing unit 560 to start photographing a video, and then causes the photographing unit 560 to end photographing the video at a timing corresponding to the timing at which the robot 20 ends a gesture. The timing corresponding to the timing at which the robot 20 ends a gesture is the same as or slightly later than the timing at which the robot 20 ends the gesture being performed, so that the video can capture the entire performance of the gesture from start to finish. The photographing control unit 513 causes the photographing unit 560 to end photographing the video at a timing corresponding to or slightly later than the timing at which the robot 20 ends the performance of at least one gesture selected by the gesture selection unit 514.

[0143] More specifically, the imaging control unit 513 causes the imaging unit 560 to end video imaging at a timing after the timing at which the imaging unit 560 starts video imaging, the timing being a time based on the time length set for at least one gesture selected by the gesture selection unit 514. Here, the time based on the time length set for at least one gesture selected by the gesture selection unit 514 is the imaging time length set based on the execution time length set in the gesture information 121.

[0144] The photographing control unit 513 measures the elapsed time at the same time as the timing at which the photographing unit 560 starts photographing the action, and causes the photographing unit 560 to end photographing the video when the set photographing time has elapsed. This makes it possible to capture in the video the state of the robot 20 performing at least one gesture selected by the gesture selecting unit 514 from start to finish without any waste. In other words, it is possible to prevent unnecessary photographing of the state after the robot 20 has finished a gesture or before the robot 20 has started a gesture (for example, a state in which the robot 20 is doing nothing, etc.).

[0145] When the shooting control unit 513 causes the shooting unit 560 to finish shooting the moving image, the shooting control unit 513 stores the obtained moving image in the storage unit 520. The moving image obtained by shooting the moving image can be played back on the moving image playback screen shown in FIG.

[0146] On the upper side of the video playback screen, the shooting control unit 513 displays in a calendar format the multiple days on which video shooting of the robot 20 was performed. When the user operates the operation unit 530 to select one of the multiple days, the shooting control unit 513 displays thumbnail images P1 to P3 of the video shot on the selected day on the lower side of the video playback screen.

[0147] Each of the thumbnail images P1 to P3 is an image for identifying a moving image. When the user selects one of the thumbnail images P1 to P3, the shooting control unit 513 plays back the moving image corresponding to the selected thumbnail image.

[0148] The shooting control unit 513 may display information about the gestures performed by the robot 20 in the video corresponding to each thumbnail image, superimposed on each of the thumbnail images P1 to P3, so that the user can more easily understand the contents of the video before playing the video. The information about the gestures is, for example, information such as characters, figures, images, etc. that allows the user to identify the gestures performed by the robot 20 in the video.

[0149] Next, the flow of the video shooting process in which the robot 20 is the subject of shooting will be described with reference to Fig. 19. The video shooting process shown in Fig. 19 starts when a user who wants to shoot a video of the robot 20 operates the terminal device 50 to start the shooting mode.

[0150] When the video shooting process is started, the control unit 510 in the terminal device 50 communicates with the robot 20 via the communication unit 550 and notifies the robot 20 of the start of the shooting mode (step S301).

[0151] When the start of the photography mode is notified to the robot 20, the control unit 510 displays, for example, a photography mode screen shown in FIG. 17 on the display unit 540 (step S302).

[0152] In the control device 100 of the robot 20, when the control unit 110 receives a notification of the start of the photographing mode from the terminal device 50, the control unit 110 causes the robot 20 to perform a gesture before photographing (step S401).

[0153] In the terminal device 50, when the control unit 510 displays the shooting mode screen, it selects a gesture to be performed by the robot 20 (step S303). Specifically, the control unit 510 receives, from the user by voice input or menu display, a selection of at least one gesture to be performed by the robot 20 when shooting a moving image from among a plurality of gestures that the robot 20 can perform.

[0154] The gesture selection process in step S303 when speech input is used will be described in detail with reference to FIG.

[0155] 20 starts, the control unit 510 detects sound using the microphone (step S501). Next, the control unit 510 determines whether the detected sound includes a sound that matches any of the names of a plurality of gestures that the robot 20 can perform (step S502). If the detected sound includes a sound that matches any of the names of the gestures (step S502; YES), the control unit 510 selects the gesture with that name (step S503).

[0156] On the other hand, if the detected voice does not include voice matching any of the gesture names (step S502; NO), then control unit 510 determines whether the detected voice includes a keyword linked to any of the gestures (step S504).If the detected voice includes a keyword (step S504; YES), control unit 510 selects a gesture linked to the keyword (step S505).

[0157] If the detected voice does not contain a keyword (step S504; NO), the control unit 510 returns the process to step S502 without selecting a gesture. At this time, the control unit 510 may notify the robot 20 that it cannot recognize a gesture from the voice, and cause the robot 20 to perform a gesture that expresses the failure of recognition. This completes the gesture selection process by voice input shown in Fig. 20.

[0158] Returning to FIG. 19, when a gesture is selected in step S303, the control unit 510 refers to the gesture information 121 and sets the length of time for capturing a moving image of the robot 20 performing the selected gesture (step S304).

[0159] When the shooting time length is set, control unit 510 determines whether or not a start instruction to start video shooting has been received from the user (step S305). If the start instruction has not been received (step S305; NO), control unit 510 remains in step S305 and waits until a start instruction is received.

[0160] When the start instruction is received (step S305; YES), the control unit 510 starts video shooting by the video shooting unit 560 (step S307). Furthermore, the control unit 510 transmits an execution command for the selected gesture to the robot 20 at a timing linked to the start of video shooting (step S306).

[0161] In the control device 100 of the robot 20, when the control unit 110 receives the execution command from the terminal device 50, it causes the robot 20 to execute the selected gesture (step S402). In step S402, the control unit 110 executes the gesture control process (steps S201 to S205) shown in FIG. 16, similarly to step S104.

[0162] In terminal device 50, when control unit 510 starts shooting a video, it determines whether the shooting time length set in step S304 has elapsed since the start of video shooting (step S308). If the shooting time length has not elapsed (step S308; NO), control unit 510 remains in step S308 and continues shooting the video until the shooting time length has elapsed.

[0163] If the shooting time length has elapsed (step S308; YES), control unit 510 ends moving image shooting (step S309). With the above, the moving image shooting process shown in Fig. 19 ends.

[0164] As described above, the terminal device 50 according to the first embodiment selects a gesture to be performed by the robot 20, causes the robot 20 to perform the selected gesture, and causes the image capturing unit 560 to end video capture at the timing corresponding to the timing at which the robot 20 finishes the gesture. This makes it possible to prevent unnecessary capture of the state of the robot 20 after the gesture has been completed, and therefore makes it possible to capture a video of the robot 20 at an appropriate timing.

[0165] In particular, when filming the robot 20 performing a gesture spontaneously, the timing of the gesture execution is arbitrary. Therefore, in conventional methods, in order to film only the desired gesture, it is necessary to film the video including the time before and after the timing when the gesture is predicted to be performed, and then edit the video by selecting only the necessary parts. In contrast, the terminal device 50 according to the first embodiment can match the timing when the robot 20 finishes the gesture with the timing when video filming ends, so that it is possible to easily film the robot 20 performing the desired gesture.

[0166] (Embodiment 2) Next, a description will be given of embodiment 2. Descriptions of the same configurations and functions as embodiment 1 will be omitted where appropriate.

[0167] In the first embodiment, the function of the gesture selection unit 514 is provided in the terminal device 50, and the gesture to be performed by the robot 20 is selected in the terminal device 50. In contrast, in the second embodiment, the control device 100 of the robot 20 has the function of the gesture selection unit 514. In other words, in the second embodiment, the control unit 110 functionally includes the state parameter acquisition unit 112, the gesture control unit 113, and the gesture selection unit 514, and the control unit 510 functionally includes the photography control unit 513.

[0168] Specifically, a case will be described in which the gesture selection unit 514 selects a gesture to be performed by the robot 20 based on voice input. In the control device 100 of the robot 20 according to the second embodiment, the gesture selection unit 514 detects the user's voice using the microphone 213 provided in the robot 20. Then, the gesture selection unit 514 executes the gesture selection process based on voice input shown in Fig. 20 for the detected voice, and selects a gesture to be performed by the robot 20.

[0169] When the gesture selection unit 514 selects a gesture, the gesture control unit 113 transmits a notification to the terminal device 50 to start a shooting mode in order to synchronize the timing at which the robot 20 performs the selected gesture with the timing at which video is shot. That is, in the first embodiment, the terminal device 50 notifies the robot 20 of the start of the shooting mode, but in the second embodiment, the robot 20 notifies the terminal device 50 of the start of the shooting mode.

[0170] In the terminal device 50, when the photographing control unit 513 receives the notification of the start of the photographing mode, it starts photographing a video using the photographing unit 560. In synchronization with this timing, in the control device 100 of the robot 20, the gesture control unit 113 causes the robot 20 to perform the gesture selected by the gesture selection unit 514.

[0171] In this way, even if the robot 20 is equipped with the function of the gesture selection unit 514, the timing of video recording and the timing of making the robot 20 perform a gesture can be matched, so that video recording of the robot 20 can be performed at the correct timing.

[0172] (Variation) Although the embodiments of the present invention have been described above, the above embodiments are merely examples, and the scope of application of the present invention is not limited to these. In other words, the embodiments of the present invention are applicable to various applications, and all embodiments are included in the scope of the present invention.

[0173] For example, in the above embodiment, the shooting control unit 513 causes the shooting unit 560 to end video shooting at a timing after a shooting time length based on the time length set for at least one gesture selected by the gesture selection unit 514 has elapsed from the timing at which the shooting unit 560 starts shooting the video. However, the timing at which video shooting ends is not limited to this.

[0174] For example, in the control device 100 of the robot 20, the gesture control unit 113 transmits a notification to the terminal device 50 indicating that the gesture selected by the gesture selection unit 514 has ended when the robot 20 has finished the gesture. In the terminal device 50, upon receiving such a notification, the shooting control unit 513 causes the shooting unit 560 to end video shooting. By transmitting a notification of the end of the gesture from the robot 20 in this manner, the shooting control unit 513 can cause the shooting unit 560 to end video shooting at the appropriate timing without having to set the shooting time before starting video shooting.

[0175] Alternatively, the photographing control unit 513 may determine whether the robot 20 has finished the gesture based on the video obtained by photographing the video, and may cause the photographing unit 560 to end photographing the video when it is determined that the robot 20 has finished the gesture selected by the gesture selection unit 514. Specifically, the photographing control unit 513 analyzes, by image recognition, a photographed video of the robot 20 performing the gesture. Then, when the movement of the robot 20 in the video stops, the photographing control unit 513 determines that the robot 20 has finished the gesture. This allows the photographing unit 560 to end photographing the video at an appropriate timing, even without setting a photographing time or receiving a notification from the robot 20.

[0176] Furthermore, the shooting control unit 513 may correct the timing at which the shooting unit 560 ends video shooting in conjunction with the correction of the gesture control parameters of the robot 20. Specifically, in the robot 20, the gesture control unit 113 corrects the gesture control parameters using a correction coefficient corresponding to the state parameter 122 acquired by the state parameter acquisition unit 112, among the correction coefficients defined in the coefficient table 124. In this case, the correction of the execution start timing may lengthen or shorten the execution time of the gesture. If the execution time of the gesture executed by the robot 20 changes from the execution time defined in the gesture information 121 due to such correction of the gesture control parameter, the gesture control unit 113 transmits correction information indicating this to the terminal device 50. The transmitted correction information includes information on the amount of change in the execution time in addition to information on the change in the execution time.

[0177] When the image capture control unit 513 receives the correction information from the robot 20, it corrects the timing to end video capture based on the received correction information. For example, if the corrected execution time length is longer than the execution time length defined in the gesture information 121, the image capture control unit 513 delays the timing to end video capture from the initially set shooting time length by the amount of change in the execution time length. Alternatively, if the corrected execution time length is shorter than the execution time length defined in the gesture information 121, the image capture control unit 513 advances the timing to end video capture from the initially set shooting time length by the amount of change in the execution time length. By correcting the shooting time length in this manner, video capture of the robot 20 can be performed at the appropriate timing even if the execution time length of a gesture changes depending on the state of the robot 20.

[0178] In the above embodiment, one robot 20 is filmed as a moving image, but it is also possible to simultaneously film multiple robots 20 as moving images. In this case, each of the multiple robots 20 can perform the following gestures (a) to (d), for example. (a) If the character value of "shy" of the own robot is equal to or higher than a predetermined level, the robot performs a gesture that matches the emotion parameter or character parameter of the surrounding robot 20. (b) If the "active" character value of the player's robot is equal to or greater than a predetermined level, the robot executes a gesture determined for the player's robot regardless of the robots 20 around it. (c) If the current location is a new location, the robot 20 performs a gesture that matches the emotion parameters or personality parameters of the surrounding robots 20, and if the current location is the robot's home, the robot 20 performs a gesture that is set for the robot itself. (d) When performing a gesture that matches the emotion parameters or personality parameters of the surrounding robots 20, if there are three or more robots 20 including the robot itself, the robot performs a gesture that matches the emotion parameters or personality parameters that are dominant by majority vote.

[0179] In the above embodiment, the control device 100 is built into the robot 20, but the control device 100 may be a separate device (e.g., a server) rather than built into the robot 20. When the control device 100 is located outside the robot 20, the control device 100 communicates with the robot 20 via the communication unit 130 to send and receive data to and from the robot 20, and controls the robot 20 as described in the above embodiment.

[0180] In the above embodiment, the exterior 201 is formed in a cylindrical shape from the head 204 to the torso 206, and the robot 20 is in a prone position. However, the robot 20 is not limited to being modeled after a prone position creature. For example, the robot 20 may be modeled after a creature with arms and legs, and may be modeled after a creature that walks on four legs or two legs.

[0181] Furthermore, the electronic device is not limited to the robot 20 that imitates a living creature. For example, the electronic device may be a wristwatch or the like, as long as it is a device that can express individuality by performing various gestures. Even electronic devices other than the robot 20 can be described in the same manner as the above embodiment, as long as they have the same configuration and functions as the robot 20 described above.

[0182] In the above embodiment, the control unit 110 functions as each unit, such as the state parameter acquisition unit 112 and the gesture control unit 113, by the CPU executing a program stored in the ROM. Furthermore, the control unit 510 functions as each unit, such as the shooting control unit 513, by the CPU executing a program stored in the ROM. However, in the present invention, the control units 110 and 510 may include dedicated hardware, such as an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or various control circuits, instead of a CPU, and the dedicated hardware may function as each unit, such as the state parameter acquisition unit 112. In this case, the functions of each unit may be realized by individual hardware, or the functions of each unit may be realized together by a single piece of hardware. Furthermore, some of the functions of each unit may be realized by dedicated hardware, and other parts may be realized by software or firmware.

[0183] It should be noted that the robot 20 or terminal device 50 can be provided with a configuration for realizing the functions according to the present invention, and by applying a program, an existing information processing device or the like can be made to function as the robot 20 or terminal device 50 according to the present invention. That is, by applying a program for realizing each functional configuration of the robot 20 or terminal device 50 exemplified in the above embodiment so that it can be executed by a CPU or the like that controls the existing information processing device or the like, the robot 20 or terminal device 50 can be made to function as the robot 20 or terminal device 50 according to the present invention.

[0184] Furthermore, the application method of such a program is arbitrary. The program can be applied by storing it on a computer-readable storage medium such as a flexible disk, a CD (Compact Disc)-ROM, a DVD (Digital Versatile Disc)-ROM, or a memory card. Furthermore, the program can be superimposed on a carrier wave and applied via a communication medium such as the Internet. For example, the program can be distributed by posting it on a bulletin board system (BBS) on a communication network. Then, the program can be started and executed under the control of an operating system (OS) in the same way as other application programs, thereby enabling the above-mentioned processing to be performed.

[0185] The above describes preferred embodiments of the present invention, but the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the claims. [Explanation of symbols]

[0186] 1...robot system, 20...robot, 50...terminal device, 100...control device, 110...control unit, 112...state parameter acquisition unit, 113...gesture control unit, 120...storage unit, 121...gesture information, 122...state parameters, 124...coefficient table, 130...communication unit, 201...exterior, 204...head, 205...connection unit, 206...torso unit, 207...casing, 210...sensor unit, 211...touch sensor, 212...acceleration sensor, 213...microphone, 214...gyro sensor, 215...illumination sensor, 220...drive unit, 221...twist motor, 222...up and down motor, 230...output unit, 231... Speaker, 240... operation unit, 250... battery, 260... location information acquisition unit, 300... emotion map, 301 to 303... frames, 400... personality value radar chart, 510... control unit, 513... photography control unit, 514... gesture selection unit, 520... memory unit, 530... operation unit, 540... display unit, 550... communication unit, 560... photography unit, BL... bus line, A1, A2... icons, P1 to P3... thumbnail images

Claims

1. A gesture selection means for selecting a gesture to be performed by a subject from among a plurality of gestures each having information on the duration of execution of the gesture associated therewith in advance; a photographing means for photographing a moving image of the subject; a gesture control means for causing the subject to perform the gesture selected by the gesture selection means; a photographing control means for causing the photographing means to end the photographing of the moving image at a timing corresponding to the timing at which the subject finishes the gesture based on information about the duration of the gesture, thereby causing the photographing means to photograph the moving image for a photographing time length corresponding to the duration of the gesture; Equipped with When two or more gestures are selected from the plurality of gestures by the gesture selection means, the gesture control means causes the subject to perform the two or more gestures in a predetermined order, and the shooting control means causes the shooting means to shoot the video for a shooting time length based on a total execution time length of the two or more gestures. An imaging system characterized by:

2. the gesture control means causes the subject to start performing the gesture selected by the gesture selection means at a timing based on a timing at which the image capture means starts capturing the moving image; 2. The imaging system according to claim 1, wherein:

3. the gesture selection means selects at least one gesture to be performed by the subject from a plurality of gestures, each of which has a set duration for capturing the moving image; the photographing control means causes the photographing means to end the video photographing at a timing after a time based on a photographing time length set for the at least one gesture selected by the gesture selection means has elapsed from a timing at which the video photographing is started.

3. The imaging system according to claim 1, wherein the imaging system is a digital camera.

4. The subject of the photographing is a robot to which personality parameters indicating pseudo-personalities or growth parameters indicating pseudo-growth are set, The gesture that the gesture control means causes the robot to perform varies depending on the personality parameter or the growth parameter.

3. The imaging system according to claim 1, wherein the imaging system is a digital camera.

5. The photography system includes the subject to be photographed and a photography device, The subject to be photographed is provided with the gesture control means, The photographing device includes the gesture selection means, the photographing means, and the photographing control means.

3. The imaging system according to claim 1, wherein the imaging system is a digital camera.

6. The photography system includes the subject to be photographed and a photography device, The subject to be photographed is provided with the gesture selection means and the gesture control means, The photographing device includes the photographing means and the photographing control means.

3. The imaging system according to claim 1, wherein the imaging system is a digital camera.

7. A photographing device communicably connected to a photographing subject, a gesture selection means for selecting a gesture to be performed by the subject from a plurality of gestures each having information on the duration of execution of the gesture associated therewith in advance; a photographing means for photographing a moving image of the subject; a photographing control means for causing the subject to perform the gesture selected by the gesture selection means and for causing the photographing means to end the video photographing at a timing corresponding to a timing at which the subject finishes the gesture, thereby causing the photographing means to photograph the video for a photographing time length corresponding to a duration of the gesture; Equipped with When two or more gestures are selected from the plurality of gestures by the gesture selection means, the photography control means causes the subject to perform the two or more gestures in a predetermined order, and causes the photography means to perform the video photography for a photography time length based on a total duration of the two or more gestures. An imaging device characterized by:

8. A photographing method executed by a photographing system equipped with a photographing means for photographing a moving image of a subject, comprising: a gesture selection process for selecting a gesture to be performed by the subject from a plurality of gestures each having information on the duration of execution of the gesture associated therewith in advance; a gesture control process for causing the subject to perform the gesture selected in the gesture selection process; a photographing control process for causing the photographing means to end the photographing of the video at a timing corresponding to a timing at which the subject finishes the gesture based on information about the duration of the gesture, thereby causing the photographing means to photograph the video for a photographing time length corresponding to the duration of the gesture; Including, When two or more gestures are selected from the plurality of gestures in the gesture selection process, the gesture control process causes the subject to perform the two or more gestures in a predetermined order, and the shooting control process causes the shooting means to shoot the video for a shooting time length based on a total execution time length of the two or more gestures. A photographing method characterized by the above.

9. A computer of a photography system equipped with a photography means for taking video of a subject, a gesture selection means for selecting a gesture to be performed by the subject from a plurality of gestures each having information on the duration of execution of the gesture associated therewith in advance; a gesture control means for causing the subject to perform the gesture selected by the gesture selection means; a photographing control means for causing the photographing means to end the photographing of the moving image at a timing corresponding to the timing at which the subject finishes the gesture based on information about the duration of the gesture, thereby causing the photographing means to photograph the moving image for a photographing time length corresponding to the duration of the gesture; It functions as When two or more gestures are selected from the plurality of gestures by the gesture selection means, the gesture control means causes the subject to perform the two or more gestures in a predetermined order, and the shooting control means causes the shooting means to shoot the video for a shooting time length based on a total execution time length of the two or more gestures. A program characterized by:

Images