KR100895296B1 - Robot emotion representation - Google Patents

Abstract

The present invention is to provide a method and apparatus for expressing the emotion of a robot applicable to heterogeneous emotional robot platform. Emotional expression method of a robot according to the present invention comprises the steps of (a) collecting information through an internal or external sensor; (b) generating emotions and determining actions with the collected information; (c) determining an emotional expression, an emotional density, and an action unit according to the generated emotion; (d) generating an emotional expression command by the emotional expression, the emotional density and the action unit; (e) interpreting the generated emotional expression command; And (f) controlling the robot based on the current state information of the robot and the generated command.

Emotional Robot, Emotional Expression, Behavioral Expression, Emotional Order, Action Unit, Complex Emotion

Description

Robot emotion representation

1 is a block diagram showing the structure of the robot emotional expression generation and processing system according to the present invention.

FIG. 2 is a detailed block diagram of an emotional expression managing unit in the system structure of FIG. 1.

3 is a detailed block diagram of an emotional expression processing unit in the system structure of FIG. 1.

Figure 4 shows an embodiment of the configuration of the emotional expression command according to the present invention.

5 shows an embodiment of the composition of the emotional expression command according to the present invention.

Figure 6 shows an embodiment of the composition of the emotional expression command according to the present invention.

FIG. 7A is an embodiment of a command form by an emotional expression command generated by the emotional expression management unit of FIG. 1 according to the present invention.

FIG. 7B illustrates an embodiment using a referrer as an embodiment of a command by an emotion expression command generated by the emotion expression management unit of FIG. 1 according to the present invention.

8 is a flowchart illustrating a method for emotional expression of a robot according to the present invention.

The present invention relates to a robot emotion expression method and apparatus for providing an emotion and behavior expression model for emotions generated in various robot emotion expression platforms. Through the present invention is provided an expression model that can accommodate a variety of emotions, thereby allowing a richer expression of emotions.

There are various researches on robots' emotions, and the areas of particular focus are on how to generate emotions close to humans through the combination of external stimuli and action choices to express the generated emotions. And device control. Among the control devices that can express emotions, a lot of research is mainly conducted on facial expressions, and more and more studies on emotion expression devices through complex actions such as body, arms, legs, and eyes are being conducted.

However, the emotional expressions expressed in robots using information such as external stimulus and internal state are described in different expressions on different platforms. Moreover, since there is no expression model itself, each platform can be adapted to the platform at that time. It is a fact that the emotional expression system is composed one by one.

As such, even if the generated emotions are the same due to the absence of the unified robot's emotional expression model, it is impossible to express them using expression devices such as face, body, arms, and legs when the platforms are different. In other words, due to the inability to provide compatibility, it is impossible to reuse the generated emotions, and the problem of rewriting or using a new expression method for the robot platform has occurred.

Therefore, in order to solve this problem, it is necessary to provide an expression model for the generated emotions and behaviors and to provide an interface for interpreting the emotions so that the emotional expression can be expressed in other types of robot platforms.

Accordingly, the present invention provides an emotional expression model applicable to various kinds of robot platforms. In addition, the robot's emotions can be sent to the controller for each part of the robot, and the robot's emotions can be expressed by driving the actuators that correspond to the action units. It is to provide a presentation device.

Another technical problem to be solved by the present invention is to collect information to generate emotions and determine behavior, and accordingly to determine emotion expression, emotion density and behavior unit, and to generate and interpret emotion expression commands, to present the current state information of the robot and the above. It is to provide a method for controlling the robot based on the generated command.

The present invention to achieve the above technical problem, (a) an emotional information receiving unit for receiving the internal and / or external stimulus as emotional information; (b) an emotion generating unit for determining the current state of the robot using the information received from the emotion information receiving unit and generating an emotion; (c) an action determination unit for determining an action corresponding to the generated emotion; (d) an emotion expression management unit that generates an emotion expression command for expressing the generated emotion as an action of the robot using the generated emotion, the current state of the robot, and the determined behavior; (e) an emotional expression processing unit for receiving and analyzing the generated emotional expression command; And (f) a robot control unit for causing an individual action unit to execute an action according to a result of the emotion expression processing unit.

Preferably, the emotion expression management unit (d) described above (d1) an emotion expression generation unit for generating a model for the emotion generated from the emotion generation unit; (d2) an emotional behavior expression generator for generating a model of the basic behavior unit and the state information of the behavior unit constituting the behavior determined by the behavior determination unit; (d3) an emotion expression command generation unit for generating a model for the generated emotion and the determined behavior as an emotion expression command; And (d4) an emotion expression command transmitter for transmitting the generated emotion expression command to the emotion expression processor.

Preferably, (d) the emotional expression management unit described above (d5) the behavior unit mismatch message transmitted from the emotional expression processing unit when the behavior unit to be controlled by the emotional expression processing unit does not match or there is no action unit to control. Emotion behavior receiving unit for receiving; And (d6) a replacement unit generation unit that generates a model for the replacement unit information required when there is no action unit for the action determined by the action determination unit, wherein the emotion expression instruction includes the replacement unit state information model. It characterized in that it further comprises.

Preferably, the emotion expression processing unit includes an emotion expression command receiving unit for receiving the emotion expression command generated by the emotion expression management unit; A command interpreter that interprets the received emotional expression command; An action unit message transmitter for transmitting an action unit disagreement message to the emotion expression management unit to generate a substitute action unit when there is no action unit corresponding to the emotion expression command interpreted by the command interpreter; And a control command transmitter for transmitting a control command to the robot controller based on the command interpreted by the command analyzer.

In addition, for the purpose of the present invention, the emotional expression command apparatus, Meta-expression expression unit for providing a model for determining whether the control is suitable for the action unit by analyzing the part that needs to control in the emotional expression processing unit; And an emotional expression unit that provides a model for emotion and a behavior expression model for behavior.

Preferably, the meta information of the emotion expression model in the emotion expression command apparatus of the robot is an emotion type for determining whether the emotion type is the main emotion or the composite emotion with respect to the generated emotion. type) technology; An action type description unit for determining whether the determined action is a basic action type or a sub action type; And an action unit determination unit that determines an action unit for the generated emotion.

Preferably, the emotion expression unit of the emotion expression command apparatus, if the number of emotions generated by the emotion generation unit has a main emotion expression unit for defining and describing this as a representative emotion; A complex emotion expression unit that provides a model for expressing one or more complex emotions when one or more emotions are generated in the emotion generation unit; An emotion degree expression unit for numerically describing the density of emotion generated by the emotion generation unit; And an emotional behavior expression unit for providing an expression model for the behavior unit which is a means necessary for expressing the behavior determined by the behavior determination unit.

Preferably, the emotional behavior representation unit comprises: behavior unit state information representation unit for describing current state information of the robot unit; A basic behavior unit expression unit for expressing behavior unit information generated based on the behavior generated by the behavior determination unit; And an alternative behavior unit expression unit expressing unit information usable as an alternative means when the behavior unit generated based on the behavior generated by the behavior determination unit does not exist in the emotional robot platform.

More preferably, in the emotion expression command apparatus of the robot, the emotion behavior expression unit is independent from the emotion expression unit of the emotion expression model, and a unique identifier is assigned to the main emotion expression unit and the complex emotion expression unit in the emotion expression unit to the corresponding identifier. The emotional behavior expression unit is described as a mapped reference.

In addition, for the purpose of the present invention, a method for expressing emotion of a robot comprises: collecting information through an internal or external sensor; Generating emotions and determining behavior using the collected information; Determining an emotion expression, an emotion density, and an action unit according to the generated emotion; Generating an emotional expression command by the emotional expression, the emotional density and the action unit; Interpreting the generated emotional expression command; And controlling the robot based on the current state information of the robot and the generated command.

Preferably, the step of generating the emotion and determining the action is characterized in that to generate the emotion divided into the main emotion and the complex emotion.

More preferably, in the step of interpreting the emotion expression command, it is determined whether there is an action unit for the generated emotion, and if the action unit does not exist, the emotion expression command is included in the emotion expression command generation step. It is characterized by rewriting.

Hereinafter, the robot emotion expression model, method and apparatus according to the present invention will be described in detail with reference to the accompanying drawings. In the following description of the present invention, detailed descriptions of related well-known technologies or configurations will be omitted if it is determined that the detailed description of the present invention may unnecessarily obscure the subject matter of the present invention. In addition, terms to be described below are terms defined in consideration of functions in the present invention, which may vary according to a client's or operator's intention or custom. Therefore, the definition should be made based on the contents throughout the specification.

1 is a block diagram showing the structure of the robot emotional expression generation and processing system according to the present invention.

In the system, the emotion information receiver 100 detects an internal and / or external stimulus with a sensor or monitors the external stimulus through an imaging device attached to the system. When the sensor is a pressure sensor, when a pressure equal to or greater than a certain threshold set by the user is applied to the robot system, that is, when an impact is applied, the degree of the shock is digitized by the pressure sensor and passed to the emotion generating unit 110 to 'pain'. And / or emotions such as 'surprise'.

In another embodiment, if the sensor is a temperature sensor, if the external temperature exceeds a certain value, the external temperature is also digitized through the temperature sensor and passed to the emotion generating unit 110 to generate appropriate emotion due to the temperature change. will be.

In another embodiment, if the sensor is a light sensing sensor, the sudden change in brightness of the light may cause the robot's eye to frown.

In another embodiment, when monitoring an external scene through the image pickup device, if a sudden change occurs instead of a gradual change of an image, emotions such as 'surprise' may also be generated.

Those skilled in the art will appreciate that a variety of devices may be used in addition to the sensor and monitoring device (imaging device) illustrated in FIG.

When emotion information is received through the sensor or the like that receives an external stimulus from the emotion information receiver 100, the emotion generator 110 of FIG. 1 generates an emotion using the above emotion information. The emotions generated will be 'sorrow,' 'joy,' 'fear,' 'disgust,' anger, 'surprise,' and 'shame'. In addition, the emotion generating unit 110 also has a function of determining the current state of the robot. This current state judgment plays an important role in the situation expressing the actual emotion. For example, when the robot expresses the emotion of 'surprise' with its eyes open halfway, it may overload the actuator that controls the robot's eyes if the current state cannot be judged. To avoid this overload, knowing the current state allows you to determine the range of motion in which the actuator should operate.

When emotion is generated in the emotion generator 110, the action determiner 120 then determines an action suitable for the generated emotion. For example, if the emotion generated by the emotion generating unit 110 is 'surprise', the behavior determination unit 120 will drive the actuator in the future to make the action to open the eyes widest and open the mouth round.

Next, the emotion expression management unit 130 expresses the emotion as the behavior of the robot by using the emotion generated by the emotion generating unit 110, the current state of the robot, and the action generated and determined by the action determination unit 120. Emotional expression command is generated. Detailed description of the emotional expression command will be described later.

Once an emotional expression command is generated in the emotional expression management unit 130, the emotional expression processing unit 140 analyzes the generated emotional expression command in detail. That is, it determines what processing should be performed according to the emotion expression command on how to express the generated emotion in the robot, and this determination is transmitted to the robot controller 150.

The robot controller 150 controls the eye actuator, the hand actuator, the ear actuator, etc. to be suitable for expressing the emotion generated based on the above process.

Now, the emotional expression manager 130 will be described in more detail with reference to FIG. 2. FIG. 2 shows a detailed block diagram of an emotional expression managing unit in the system structure of FIG. 1.

As described above, the emotional expression management unit 130 uses the emotion generated by the emotional generator 110 and the behavior determined by the behavior determiner 120 to determine the internal emotional expression generator 210 and the emotional behavior expression generator. 220).

Emotional expression generator 210 generates a model for the generated emotion, that is, 'sorrow,' 'joy,' 'fear,' 'disgust,' anger, 'surprise' and 'shame'. The emotional behavior expression generation unit 220 generates a model for the basic behavior unit and the state information of the behavior unit constituting the behavior determined by the behavior determination unit. The generated model may take many different forms, but will be described later. The generated model is sent to the emotion expression command generation unit.

The emotional behavior receiving unit 250 receives a behavior unit absence message that is transmitted when the emotional expression processing unit 140 does not match the behavior unit to be controlled or there is no behavior unit to be controlled. When the emotional behavior receiving unit 250 receives the behavior unit absence message, the emotional unit receiving unit 250 sends a signal to the substitute unit generation unit 260 to instruct to generate a substitute unit model, and the substitute unit model generated by the substitute unit generation unit 260 is generated. Is sent to the emotion expression command generation unit 230.

The emotional expression command generation unit 230 includes all of the models generated by the emotional expression generation unit 210, the emotional behavior expression generation unit 220, and the replacement unit generation unit 260, as described above. 230) to generate a sentiment expression command. The generated emotion expression command is transmitted to the emotion expression processor 140 through the emotion expression transmitter 240.

FIG. 3 provides a detailed block diagram of an emotional expression processing unit in the system structure of FIG. 1. Emotional expression processing unit 140 is capable of controlling the actuator of a specific portion of the robot. In addition, as a part of a control unit having a processor having a simple processing capability, it provides a data transmission / reception interface with the emotional expression management unit, and interprets and analyzes the instruction to express the emotional expression instructions 410 of FIGS. 4 to 6. 610 transmits a command for controlling the behavior unit to the robot controller 150 through the emotion and behavior expression information described in 610.

The emotional expression processing unit 140 includes an emotional expression command receiving unit 310 that receives the emotional expression command generated by the aforementioned emotional expression management unit.

The emotion expression command receiver 310 sends an emotion expression command to the command interpreter 320 to interpret the received emotion expression command. The command interpreter interprets the received emotional expression command to determine how to control each part of the robot to generate a line command to the actuator for driving each part and sends it to the control command transmitter 330.

The control command transmitter 330 transmits a control command for driving the actuator for each part of the robot generated by the command interpreter 320 to the robot controller 150. In addition, the control command transmitter 330 transmits an action unit absence message (ACK) to the emotion expression management unit 130 when a corresponding action unit does not exist in the control unit for each robot part while processing the emotion expression command. To provide.

Although not shown in detail, the robot controller 150 drives each driving actuator of the robot so as to be suitable for expressing the emotion generated by receiving the control command.

Sometimes the command interpreter 320 finds that there is no action unit to properly express the emotion generated as a result of interpreting the emotion expression command. At this time, the command interpreting unit 320 does not perform the corresponding action, but instead of the action unit absence message indicating that there is no action unit to express, the emotion unit management message is sent to the emotion unit management message through the action unit message transmission unit 340. It is transmitted to the emotional behavior receiving unit 250 of the expression management unit 130.

Hereinafter, the emotional expression command generated by combining models generated by the emotional expression generator 210, the emotional behavior expression generator 220, and the substitute unit generator 260 of the emotional expression processor 130 will be described in detail. Shall be.

4 to 6 show one embodiment of the composition of the emotional expression command according to the present invention. The emotion expression command according to FIGS. 4 to 6 is largely divided into the meta information expression unit 420; 520; 620, the emotion expression unit 430; 530; 630, and the emotion behavior expression unit 434; 540; 635, 639. do.

The meta information expression unit 420 (520; 620) describes meta information about the behavior unit information to be selected by the emotion expression processing unit 140. That is, an emotion type for determining whether the type of emotion expressed by the emotion expression units 430; 530; 630 is a main emotion or a composite emotion is described. It also describes action types for determining behaviors for emotion. That is, a basic action type describing basic actions on actions generated by the action determination unit and a sub action type represented by alternative units are described. It also describes representative behavior units as basic behavior presentation means.

In addition, the meta-information expression unit 420 (520; 620) provides a model for determining whether the emotional expression processing unit 140 is suitable for the action unit by analyzing only the portion necessary for controlling the robot.

The emotion expression unit 430 (530; 630) provides a behavior expression model for the emotion generated by the emotion generation unit 110 and the emotion determination unit 120. The emotion expression units 430; 530; 630 include the main emotion expression units 431; 531; 631, the emotion degree expression units 432; 533, 537; 633, 637, and the composite emotion expression units 433; 535; 636. And emotional behavior expression units 434; 540; 635, 639.

The main emotion expression unit 431; 531; 631 defines and describes as the representative emotion when the number of emotions generated by the emotion generator 110 is one. The emotion degree expression unit 432; 533, 537; 633, 637 numerically describes the generated emotion density. For example, if there is only one number of emotions, the main emotion occupies the total number "100", but if complex emotions occur, the emotion having the largest emotional density is distributed to the main emotion through proper distribution. The remaining composite emotions will share the remaining emotion density values.

The complex emotion expression unit 433; 535; 636 provides a model for expressing all of one or more emotions when the emotion generation unit 110 generates one or more emotions. That is, when a complex emotion is generated, for example, 'surprise' and 'joy' may occur at the same time. By providing a model that can express more diverse emotions at the same time as above, it is easier to express multiple emotions. In addition, it can be expressed differently by using a variety of action expression means that can be supported in the emotional robot platform.

The emotional behavior expression unit 434 (540; 635, 639) provides an expression model for the behavior unit, which is a means necessary for expressing emotion.

The basic behavior unit expression units 437 and 541 describe basic operations performed on the emotions generated by the robot platform.

The action unit state information expression units 438 and 543 are an expression model for describing current state information of the action unit. The action unit state information expression units 438 and 543 can accurately express the action of the emotion by grasping the current state information of the action unit. You will be able to reduce it as much as possible. This can also have the effect of preventing the overload that may occur when a control command is executed without knowing the state information of the unit.

The alternative behavior unit expression units 439 and 545 may generate an expression model that describes available unit information as an alternative means when the action unit generated based on the action generated by the action determination unit 120 does not exist in the emotional robot platform. to provide. In other words, the behavior units may not match if they have different robotic platforms. In this case, if the above alternative action unit expression part does not exist, an appropriate action expression may not be provided on a heterogeneous platform for the generated emotion. In this respect, alternative behavior unit representations 439 and 545 increase the flexibility of behavior representation between heterogeneous platforms.

In FIG. 6, the above-described basic action unit expression unit, the action unit state information expression unit, and the alternate action unit expression unit are not displayed, but the above three expression units are described in the form included in the emotion behavior expression units 635 and 639. Can be.

The characteristics of the emotional expression instruction manual of FIGS. 4 to 6, that is, different emotional expression models provided according to the present invention will be described below.

In the emotional expression command 410 (610) of FIG. 4 and FIG. 6, the emotional behavior expression unit (434; 635, 639) is integrated into the emotional expression unit (430; 630). In 510, the emotion expression unit 530 and the emotion behavior expression unit 540 are completely separated and have a structure that can be independently expressed.

That is, the emotion expression command 510 in FIG. 5 assigns a unique identifier ID for each main emotion and a complex emotion to connect the emotion expression unit and the emotion behavior expression unit, and maps the ID to the corresponding ID. ) To describe the emotional behavior expression unit 540.

In contrast, in FIG. 4 and FIG. 6, as described above, each of the main emotions 431 and 631 and the complex emotion expression unit are included in the emotion expression unit 434; 635 and 639 in the emotion expression unit 430 and 630. 433 and 636, the emotional behavior expression unit is arranged. In other words, the emotional behavior expression unit 434 (635, 639) is expressed to include a single emotion.

In FIG. 4, the emotion degree expression unit 432 defined by the emotion expression unit 430 generates and distinguishes identifiers as unique as the number of emotions of the main emotion expression unit 431 and the composite emotion expression unit 433.

As shown in FIG. 1, the emotional behavior expression command is analyzed by the emotional expression processing unit 140 to transmit a control command from the emotional expression processing unit 140 to the robot controller 150.

FIG. 7A is an embodiment of a command form by an emotional expression command generated by the emotional expression management unit of FIG. 1 according to the present invention. 7A illustrates an emotional expression command document based on XML syntax. In addition, this emotional expression command was written based on the emotional expression command model shown in FIG. 6.

First, the emotion expression command 700 includes a meta emotion expression unit 710. Analyzing the meta information according to the present embodiment, the emotion is created with a "composite" emotion, the action type is "basic" and the unit part to be driven is "eye". ) ".

It can be seen that the part corresponding to the emotional expression unit 720 is largely divided into a main emotional expression unit and two complex emotional expression units by <Type> </ Type>. In the main emotion section, the main emotion is set to "surprise", and the sensitivity density is "70" and the emotion expressed in the first composite emotion section is "joy" and the emotion density "20," the emotion expressed in the second composite emotion section is "Sorrow" and emotional density "10".

Parts corresponding to the emotional behavior expression units 722 and 724 are divided into <Behavior> </ Behavior>. In addition, the basic behavior unit information, the behavior unit state information representation, and the replacement unit information representation describe what actions the respective emotional behavior expression units 722 and 724 take.

FIG. 7B illustrates an embodiment using a referrer as an embodiment of a command by an emotion expression command generated by the emotion expression management unit of FIG. 1 according to the present invention.

In more detail, it is an embodiment written based on the emotional expression command book 510 model shown in FIG. 5.

First, the emotion expression order 750 includes a meta emotion expression unit 760. Analyzing the meta information according to the present embodiment, the emotion is generated with the "main" emotion, the action type is "basic" and the unit part to be driven is "eye". ) ".

It can be seen that the part corresponding to the emotional expression unit 770 is largely divided into a main emotional expression unit and two complex emotional expression units by <Type> </ Type>. In the main emotional unit, the main emotion is set to "surprise", the emotion level is "70" and the emotion expressed in the first composite emotion unit is "joy" and the emotion level "20," the emotion expressed in the second composite emotion unit is "Sorrow" and emotional level "10". In this instruction sheet, the "intensity" of FIG. 7A is replaced by the "level" indicator. However, according to an embodiment, the instruction manual may be displayed using an appropriate indicator.

In contrast to FIG. 7A, the emotion is set and the id is given differently for each emotion. That is, id = id1 for the main emotion, id = id2 for the first compound emotion, and id = id3 for the second compound emotion.

The reason for assigning the id that can be referred to in this way is that the emotional expression unit 770 and the emotional behavior expression unit 780 are distinguished from the instruction manual model of FIG. 7B. In the emotional behavior expression unit 780, the determination of what emotion is expressed to express the behavior is finally made by a reference expressed as <Behavior idref = "id1">. Through idref = "id1", the emotion to be expressed is "surprise" and can be distinguished from other complex emotions.

8 is a flowchart illustrating a method for emotional expression of a robot according to the present invention.

First, in step S801, internal or external sensor information is collected and feature information is generated. In the next step S803, the emotion is generated based on the above information. In this case, if the generated emotion is one, the basic emotion is added to the main emotional expression part of the emotion expression command in step S809. Otherwise, if two or more generated emotions are added, the emotion is added to the complex emotion expression part as in S807. do.

When emotions are added to the main emotion expression unit and the composite emotion expression unit as described above, the emotion density level values for the respective emotions are added (S811). At this time, if only one emotion, the main emotion, is generated, the total value of the emotion density is assigned to the main emotion, whereas when the composite emotion is generated, the emotion density value is appropriately distributed.

In operation S813, the basic behavior unit is determined and added to the emotional expression command. In addition, it grasps the current state of the action unit and adds it to the emotion expression command (S815).

The emotion expression command is generated in step S817 and is transmitted to the place where the emotion expression command is processed, and interpretation is performed in step S819. At this time, meta information of the emotion expression command is analyzed in step S821 to determine whether there is a matching behavior unit. If the information included in the meta information matches the behavior unit, the emotional behavior is executed according to the emotional expression command (S823). If there is no matching action unit, it generates a message (ACK) that no matching action unit exists. The number of ACK messages transmitted several times is stored and compared with the total number of action units. If the number is the same (S827), it is determined that there is no appropriate action unit and a replacement action unit is added (S829).

In this way it will be possible to select an alternate action unit regardless of the number of action units.

As described above, the present invention has been described based on the preferred embodiments, but these embodiments are intended to illustrate the present invention, not to limit the present invention, so that those skilled in the art to which the present invention pertains can practice the above without departing from the technical spirit of the present invention. Various changes, modifications or adjustments to the example will be possible. Therefore, the protection scope of this invention will be limited only by the appended claims, and should be construed as including all changes, modifications or adjustments.

The present invention provides a method and apparatus for expressing emotions capable of expressing emotions and actions generated through different methods on various robot platforms. This enables more diverse expressions of emotions and provides compatibility between heterogeneous robotic platforms.

Although preferred embodiments of the present invention have been described in detail above, those of ordinary skill in the art to which the present invention pertains should understand the present invention without departing from the spirit and scope of the present invention as defined in the appended claims. Various modifications or changes may be made. Accordingly, modifications to subsequent embodiments of the present invention will not depart from the technical scope of the present invention.

Claims (12)

delete delete As the emotion expression device of the robot, Emotion information receiver for receiving an internal or external stimulus as emotion information; Emotion generating unit for determining the current state of the robot by using the information received from the emotion information receiving unit and generates the emotion according to the determination; An action determination unit for determining an action corresponding to the generated emotion; An emotion expression management unit generating an emotion expression command for expressing the generated emotion as an action of the robot using the generated emotion, the current state of the robot, and the determined behavior; An emotion expression processor configured to receive and analyze the generated emotion expression command; And Including a robot control unit for performing an action to the individual action unit according to the result of the emotional expression processing unit, The emotion expression command, A meta-information expression unit including meta information describing an emotion type, an action type, and an action unit for the generated emotion for expressing the emotion of the robot; And An emotion expression unit for providing a model for emotion of the robot and an action expression model including an alternative action for the behavior of the robot based on the meta information;  The emotional expression management unit includes an emotional expression generating unit for generating a model for the emotion generated from the emotional generating unit; An emotional behavior expression generation unit generating a model of the basic behavior unit and the state information of the behavior unit constituting the behavior determined by the behavior determination unit; An emotion expression command generation unit configured to generate a model for the generated emotion and the determined behavior as an emotion expression command; And an emotion expression command transmitter to transmit the generated emotion expression command to the emotion expression processor. The emotional expression management unit may include an emotional behavior receiving unit configured to receive an action unit absence message transmitted from the emotional expression processing unit when the behavior unit to be controlled by the emotional expression processing unit does not match or there is no activity unit to be controlled; And a substitute unit generation unit configured to generate a model for the necessary substitute unit information when there is no action unit for the action determined by the action determiner, wherein the emotion expression command generates a model for the generated substitute unit information. Emotional expression device of a robot, characterized in that it further comprises. delete delete As the emotion expression device of the robot, Emotion information receiver for receiving an internal or external stimulus as emotion information; Emotion generating unit for determining the current state of the robot by using the information received from the emotion information receiving unit and generates the emotion according to the determination; An action determination unit for determining an action corresponding to the generated emotion; An emotion expression management unit generating an emotion expression command for expressing the generated emotion as an action of the robot using the generated emotion, the current state of the robot, and the determined behavior; An emotion expression processor configured to receive and analyze the generated emotion expression command; And Including a robot control unit for performing an action to the individual action unit according to the result of the emotional expression processing unit, The emotion expression command, A meta-information expression unit including meta information describing an emotion type, an action type, and an action unit for the generated emotion for expressing the emotion of the robot; And An emotion expression unit for providing a model for emotion of the robot and an action expression model including an alternative action for the behavior of the robot based on the meta information; The meta information expression unit of the emotion expression command An emotion type description unit for determining whether an emotion type is a main emotion or a composite emotion with respect to the generated emotion; An action type description unit for determining whether the determined action is a basic action type or a sub action type; And Emotional expression apparatus of the robot comprising a behavior unit determination unit for determining a behavior unit for the generated emotion. As the emotion expression device of the robot, Emotion information receiver for receiving an internal or external stimulus as emotion information; Emotion generating unit for determining the current state of the robot by using the information received from the emotion information receiving unit and generates the emotion according to the determination; An action determination unit for determining an action corresponding to the generated emotion; An emotion expression management unit generating an emotion expression command for expressing the generated emotion as an action of the robot using the generated emotion, the current state of the robot, and the determined behavior; An emotion expression processor configured to receive and analyze the generated emotion expression command; And Including a robot control unit for performing an action to the individual action unit according to the result of the emotional expression processing unit, The emotion expression command, A meta-information expression unit including meta information describing an emotion type, an action type, and an action unit for the generated emotion for expressing the emotion of the robot; And Based on the meta information includes an emotional expression unit for providing a model for the emotion of the robot and a behavior expression model including a substitute action for the behavior of the robot, The emotional expression unit of the emotional expression command A main emotion expression unit that defines and describes the number of emotions generated by the emotion generator as one representative emotion; A complex emotion expression unit that provides a model for expressing one or more complex emotions when one or more emotions are generated in the emotion generation unit; An emotion degree expression unit for numerically describing the density of emotion generated by the emotion generation unit; And And an emotional behavior expression unit for providing an expression model for the behavior unit which is a means necessary for expressing the behavior determined by the behavior determination unit. The method of claim 7, wherein the emotional behavior expression unit An action unit state information expression unit for describing current state information of individual units of the robot; A basic behavior unit representation unit for representing behavior unit information generated based on the behavior determined by the behavior determination unit; And And an alternative behavior unit expression unit for expressing unit information usable as an alternative means when the behavior unit to express the action determined by the behavior determination unit does not exist in the emotional robot platform. The emotion expression unit of the emotion expression command of the emotion behavior expression unit is independent, the emotion expression unit to give a unique identifier to the main emotion expression unit and the composite emotion expression unit, the emotion as a reference mapped to the emotion An emotional expression apparatus of a robot, characterized by describing an action expression unit. delete delete In the emotion expression method of the robot, Collecting information through an internal or external sensor; Generating emotions and determining behavior using the collected information; Determining an emotion expression, an emotion density, and an action unit according to the generated emotion; Generating an emotional expression command by the emotional expression, the emotional density and the action unit; Interpreting the generated emotional expression command; And Controlling the robot based on the current state information of the robot and the generated command; The emotion expression command, Includes meta information describing an emotion type for the emotional expression of the robot, an action type and an action unit for the generated emotion, and Based on the meta information includes a model for the emotion of the robot and a behavior expression model including a substitute action for the behavior of the robot, In the step of interpreting the emotion expression command, it is determined whether there is an action unit for the generated emotion, and if the action unit does not exist, in the emotion expression command generation step, rewriting the emotion expression command including the replacement unit A method of expressing emotion of a robot.

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