KR102453835B1 - The apparatus and method of modeling of robot motion - Google Patents

Abstract

A robot motion modeling apparatus and a robot motion modeling method are disclosed. According to this, defining a plurality of service proficiencies and a service behavior that is a measure for evaluating which of the plurality of service proficiencies corresponds to; receiving a recorded image of a service performed by a service provider corresponding to each of the plurality of service skill levels; extracting the service behavior from the recorded video and displaying a section corresponding to the service behavior; Based on the interval, a difference in the service behavior between the service providers corresponding to each of the plurality of service proficiency levels may be statistically analyzed, and an analysis result may be derived.

Description

Robot motion modeling device and robot motion modeling method

The present invention relates to a robot motion modeling device and a robot motion modeling method, and more particularly, to a robot motion modeling device and a robot motion modeling method that can analyze the difference and degree of change in service behavior that is changed as the intelligence of the robot develops. it's about

Recently, service businesses using robots have been activated in various service domains such as exhibition halls, restaurants, cafes, logistics and medical services. Robots are developing into the form of intelligent robots that can make decisions and evolve on their own, similar to human intelligence.

In the past, the intelligence of the service robot was newly developed whenever there was a change of service in the field.

As the intelligence of the service robot develops, the service provision behavior also develops. However, it is not easy for the end user, the customer, to recognize the situation in which the robot's intelligence is developing. In addition, there is no way to analyze and evaluate robot intelligence and services that become smart even from the point of view of service providers and robot developers who directly utilize robots for services.

Existing service analysis methods are focused on the pattern analysis of customers who use the service. Therefore, there is currently no way to define and model the service behavior of a robot that must be a worker.

Korean Patent Publication No. 10-2018-0130621 (2018.12.10)

The problem to be solved by the present invention is to model the service behavior of a service robot applied to exhibition halls and restaurants, and to provide a robot motion modeling device and method that can define the goal of service behavior reached as the intelligence of the service robot develops will do

In addition, an object of the present invention is to provide a robot motion modeling apparatus and method capable of analyzing the difference and degree of change in service behavior that is changed as the intelligence of the robot develops.

Robot behavior modeling apparatus according to an embodiment of the present invention, a plurality of service proficiency, and a setting unit defining a service behavior that is a measure for evaluating which of the plurality of service proficiency corresponds to; and an image acquisition unit configured to receive a recorded image of a service performed by a service provider corresponding to each of the plurality of service proficiency levels; and an image processing unit for extracting the service behavior from the recorded image and displaying a section corresponding to the service behavior; and an analysis unit for statistically analyzing a difference in the service behavior between the service providers corresponding to each of the plurality of service proficiency levels based on the section, and deriving an analysis result.

In the robot motion modeling apparatus, the service behavior is commonly applicable to workers in a predetermined service domain, and may be composed of a basic behavior unit and a service behavior unit.

In the robot motion modeling apparatus, the analysis unit determines the frequency of action and the action duration of the basic action unit and the service action unit based on the section, and corresponding to each of the plurality of service skill levels, the A difference in the service behavior between service providers may be analyzed.

In the robot motion modeling apparatus, the basic action unit includes at least one of gaze, movement, pointing, and utterance, and the service action unit is at least one of flexibility, initiative, risk recognition, interpersonal skills, and service recovery. may include.

In the robot motion modeling apparatus, the plurality of service skill levels may include at least one of a beginner level, an intermediate level, and an expert level.

In the robot motion modeling apparatus, the analysis unit models a motion pattern corresponding to each of the plurality of service proficiency levels based on the analysis result, and compares the robot motion with the motion pattern to determine the proficiency level of the robot Alternatively, the motion of the robot may be modeled to correspond to the motion pattern.

A robot behavior modeling method according to another embodiment of the present invention includes: defining a plurality of service proficiencies and a service behavior that is a measure for evaluating which one of the plurality of service proficiencies corresponds to; and receiving a recorded image of a service performed by a service provider corresponding to each of the plurality of service skill levels; and extracting the service behavior from the recorded video and displaying a section corresponding to the service behavior; and statistically analyzing a difference in the service behavior between the service providers corresponding to each of the plurality of service proficiency levels based on the interval, and deriving an analysis result.

In the robot motion modeling method, the service behavior is commonly applicable to workers in a predetermined service domain, and may be composed of a basic behavior unit and a service behavior unit.

In the robot motion modeling method, the frequency and duration of actions of the basic action unit and the service action unit are determined based on the section, and correspondingly, between the service providers corresponding to each of the plurality of service proficiency levels. The difference in service behavior can be analyzed.

In the robot motion modeling method, the basic action unit includes at least one of gaze, movement, pointing, and utterance, and the service action unit is at least one of flexibility, initiative, risk recognition, interpersonal skills, and service recovery. may include.

In the robot motion modeling method, the plurality of service proficiency levels may include at least one of a beginner level, an intermediate level level, and an expert level level.

In the robot motion modeling method, a motion pattern corresponding to each of the plurality of service proficiency is modeled based on the analysis result, and the motion of the robot is compared with the motion pattern to determine the proficiency level of the robot or the motion pattern It is possible to model the motion of the robot corresponding to .

According to an embodiment of the present invention, it is possible to model the service behavior of a service robot applied to an exhibition hall and a restaurant, and to define a goal of a service behavior reached as the intelligence of the service robot develops.

In addition, according to an embodiment of the present invention, it is possible to analyze the difference and degree of change in service behavior that is changed as the intelligence of the robot develops.

1 is a block diagram showing the configuration of a robot motion modeling apparatus according to the present invention.
2 is a view for explaining an example in which the robot operation modeling apparatus according to the present invention models the service operation of the worker.
3 is a view for explaining an example in which the robot motion modeling apparatus according to the present invention models the robot motion based on the proficiency service motion model.
4A and 4B are diagrams for explaining a method for the robot motion modeling apparatus according to the present invention to analyze an actual service image of a worker.
5A and 5B are diagrams for explaining an example in which the robot motion modeling apparatus according to the present invention compares and visualizes the actual basic action units of a worker.
6A and 6B are diagrams for explaining an example in which the robot motion modeling apparatus according to the present invention compares and visualizes the actual service action unit of the worker.
7 is a diagram illustrating an example in which the robot motion modeling apparatus according to the present invention defines a service action unit of a worker.
8 is a diagram illustrating an example in which the robot motion modeling apparatus according to the present invention defines a basic action unit of a worker.
9 is a diagram illustrating a robot motion modeling process according to the present invention.
10 is a diagram illustrating a computing device according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art to which the present invention pertains can easily implement them. However, the present invention may be embodied in several different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

In this specification, duplicate descriptions of the same components will be omitted.

Also, in this specification, when a component is referred to as 'connected' or 'connected' to another component, it may be directly connected or connected to the other component, but other components in the middle It should be understood that there may be On the other hand, in the present specification, when it is mentioned that a certain element is 'directly connected' or 'directly connected' to another element, it should be understood that the other element does not exist in the middle.

In addition, the terms used herein are used only to describe specific embodiments, and are not intended to limit the present invention.

Also in this specification, the singular expression may include the plural expression unless the context clearly dictates otherwise.

Also, in this specification, terms such as 'include' or 'have' are only intended to designate that the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification exist, and one or more It should be understood that the existence or addition of other features, numbers, steps, acts, components, parts, or combinations thereof, is not precluded in advance.

Also in this specification, the term 'and/or' includes a combination of a plurality of listed items or any of a plurality of listed items. In this specification, 'A or B' may include 'A', 'B', or 'both A and B'.

Also, in this specification, detailed descriptions of well-known functions and configurations that may obscure the gist of the present invention will be omitted.

1 is a block diagram showing the configuration of a robot motion modeling apparatus according to the present invention.

The robot motion modeling apparatus 100 according to the present invention analyzes and models the service behavior of a worker to develop a service robot applied to various service sites, and models the robot motion based on this, or determines the skill level of the robot motion, or the robot You can control the action.

To this end, the robot motion modeling apparatus 100 may be implemented in the form of a server device or a cloud server, to remotely control the robot, or to generate a program or an update program for controlling the robot and transmit it to the robot.

The robot motion modeling apparatus 100 may include a setting unit 110 , an image acquisition unit 120 , an image processing unit 130 , and an analysis unit 140 .

The setting unit 110 may define a plurality of service proficiencies and a service behavior that is a measure for evaluating which of the plurality of service proficiencies corresponds to.

Here, the plurality of service proficiency levels may include at least one of a beginner level, an intermediate level level, and an expert level. However, the present invention is not limited thereto, and the service skill level may be classified into a plurality of stages according to various embodiments.

The service action is commonly applicable to workers of a predetermined service domain, and may be composed of a basic action unit and a service action unit. The basic action unit may include at least one of gaze, movement, pointing, and utterance. The service action unit may include at least one of flexibility, initiative, risk awareness, interpersonal skills, and service recovery.

The image acquisition unit 120 may receive a recorded image for a service performed by a service provider corresponding to each of a plurality of service skill levels.

The image processing unit 130 may extract a service action from the recorded image and display a section corresponding to the service action.

According to an embodiment, the image processing unit 130 may tag the service behavior of the worker using a video analysis tool.

In the present invention, a scene of an actual service situation of an exhibition hall and a restaurant is recorded using the service behavior list of the worker, and the service image can be collected for service experts and beginners. In this case, the section corresponding to the service behavior list in the image database collected by using the video analysis tool is displayed. From this, it is possible to analyze the frequency and duration of behavior in the basic behavior unit and service behavior unit of experts and beginners, quantitatively analyze the difference in service quality between the two groups through statistical analysis, and display the results through a chart.

The analysis unit 140 may statistically analyze a difference in service behavior between service providers corresponding to each of a plurality of service proficiency levels based on the interval, and may derive an analysis result.

Specifically, the analysis unit 140 determines the frequency and duration of the behavior of the basic behavior unit and the service behavior unit based on the interval, and in response to this, the difference in service behavior between the service providers corresponding to each of the plurality of service proficiency levels. can be analyzed.

The analysis unit 140 may model an operation pattern corresponding to each of the plurality of service proficiency levels based on the analysis result. In this case, the analysis unit 140 may determine the skill level of the robot by comparing the motion of the robot with the modeled motion pattern, or may model the motion of the robot to correspond to the motion pattern.

As the intelligence of the service robot develops, the service provision behavior also develops. Therefore, it is necessary to analyze the difference between the service behavior of the beginner, the stage before intelligence development, and the service behavior of the expert, the stage after the intelligence is developed. However, in the past, there was no method of analyzing the difference in service behavior according to the development of such intelligence, and furthermore, the necessity of analysis was not recognized.

In the present invention, in order to recognize a clear difference between the initial stage and the skill stage of the robot service, the initial focus in the actual field with respect to the service behavior that evolves as the intelligence of the service robot applied to various service domains such as exhibition halls and restaurants develops. Model the service behavior of workers and skilled workers. In this case, in response to the modeled worker's step-by-step service operation model, it is possible to model or compare the service operation of the robot to determine the service operation stage of the robot, or to control the service operation of the robot.

2 is a view for explaining an example in which the robot operation modeling apparatus according to the present invention models the service operation of the worker.

The robot motion modeling apparatus 100 classifies the service proficiency of workers in the service site. According to an embodiment, the service proficiency level may be classified into a beginner level, an intermediate level level, and an expert level. In this case, the service of the worker is developed from the beginner level through the intermediate level level to the expert level.

Acquire the image of the actual service of the worker in the service site. Specifically, it is possible to acquire a video including a time-series process in which a worker performs an actual service.

After extracting the service behavior from the image, determining the basic behavior unit and the service behavior unit based on the service behavior, the frequency and duration of the basic behavior unit and the service behavior unit are analyzed. In this case, an operation model may be generated for each service step based on the analysis result.

Referring to FIG. 2 , a service operation model is generated in response to a beginner, an intermediate, and an expert, respectively. The service behavior model is represented by a pattern of frequency and duration of service A behavior over time.

3 is a view for explaining an example in which the robot motion modeling apparatus according to the present invention models the robot motion based on the proficiency service motion model.

As described above, a service operation model for each service skill level was generated by FIG. 2 . In this case, the robot motion modeling apparatus 100 may perform various controls related to the service motion of the robot based on the service motion model for each service skill level of the worker.

Specifically, it is possible to model the service operation of the robot in response to the service operation model for each skill level of the worker.

In addition, it is possible to determine which skill level the service operation of the robot corresponds to by comparing it with the service operation model for each skill level of the worker.

Furthermore, based on the service operation model for each skill level of the worker, it is possible to control the service operation of the robot.

Referring to FIG. 3 , a service operation of the robot may be modeled based on the expert service operation model so that the robot may provide a service of the expert level. In addition, if the A service behavior of the robot has the same pattern as the intermediate service operation model, it can be determined that the service skill level of the robot is intermediate.

4A and 4B are diagrams for explaining a method for the robot motion modeling apparatus according to the present invention to analyze an actual service image of a worker.

The robot motion modeling apparatus 100 collects service images of workers in an actual service provision situation step by step. According to an embodiment, a service provided by a beginner, an intermediate person, and an expert, respectively, in an actual field may be recorded as an image and stored in a database. In this case, the robot motion modeling apparatus 100 may directly record a service image using a built-in image recording means or may receive a recorded service image from an externally located image recording means.

The robot motion modeling apparatus 100 may tag the service behavior of the worker using a video analysis tool. Specifically, by analyzing the image stored in the database, actions corresponding to the service action list defined in the present invention are extracted from the video. In this case, the robot motion modeling apparatus 100 tags the image portion corresponding to the extracted actions.

Referring to FIG. 4A , a beginner service image 410 and an expert service image 420 are respectively shown. Each of the images 410 and 420 is tagged with extracted service actions and their duration, respectively.

5A and 5B are diagrams for explaining an example in which the robot motion modeling apparatus according to the present invention compares and visualizes the actual basic action units of a worker.

From the tagged data, it is possible to compare the difference between the frequency and duration of the basic behavior that each worker showed in the actual service situation.

According to an embodiment, comparison may be made using a T-test. A T-test or T-test is a statistical hypothesis test in which the statistic being tested follows a t-distribution under the null hypothesis. The T-test is most commonly applied when the scaling direction of the test statistic is known and the test-tested statistic follows a normal distribution. In this case, the scaling direction, such as the variance of the population, is unknown, but if it is replaced with an estimate based on the data, the test statistics (under certain conditions) follow the t-distribution. For example, a t-test can be used to determine whether the means of two data sets (populations) are significantly different from each other.

The comparison result can be visualized using a bar chart. Specifically, FIG. 5A shows a bar chart comparing the frequencies of basic action units between beginners and experts. Referring to FIG. 5A , for beginners (Docent B) and expert (Docent C), various basic actions, that is, Gaze, Point, Move, and Talk, the frequency of each shows a difference in

Fig. 5b shows a bar chart comparing the durations of basic action units between beginners and experts. Referring to FIG. 5B , for beginners (Docent B) and expert (Docent C), various basic actions, that is, Gaze, Point, Move, and Talk show a difference in time.

6A and 6B are diagrams for explaining an example in which the robot motion modeling apparatus according to the present invention compares and visualizes the actual service action unit of the worker.

From the tagged data, it is possible to compare the difference between the frequency and duration of the service action unit that each worker showed in the actual service situation. According to an embodiment, comparison may be made using a T-test.

The comparison result can be visualized using a bar chart. Specifically, FIG. 6A shows a bar chart comparing the frequency of service action units between beginners and experts. Referring to FIG. 6A , a beginner (Count Docent B) and an expert (Count Docent C) show a difference in frequency for each of various service behaviors, that is, flexibility (F), initiative (P), and interpersonal skills (IS). .

Fig. 6b is a bar chart comparing the duration of the service action unit of the beginner and the expert. Referring to FIG. 6B , the beginner (Duration Docent B) and the expert (Duration Docent C) showed a difference in duration for each of various service behaviors, that is, flexibility (F), initiative (P), and interpersonal skills (IS). see

7 is a diagram illustrating an example in which the robot motion modeling apparatus according to the present invention defines a service action unit of a worker.

In FIG. 7 , it is assumed that a service action unit is defined for workers in an exhibition hall and a restaurant. The service action unit shown in FIG. 7 is extracted from the actual service provision situation of the workers in the exhibition hall and the restaurant, and can be commonly applied in different environments of the exhibition hall and the restaurant. That is, it may be commonly applicable to exhibition hall and restaurant workers.

Service action units may include flexibility, initiative, risk awareness, interpersonal skills, and service recovery. Flexibility is the act of responding to changes in customer needs and circumstances. Proactivity is the act of approaching customers to understand customer needs and changes in circumstances. Risk Perception is the act of quickly recognizing unusual things (e.g., unexpected situations, dangerous situations, etc.). Interpersonal Skills are behaviors that elicit a customer's response (e.g., attention). Service recovery is the act of resolving a specific problem and continuing the service.

8 is a diagram illustrating an example in which the robot motion modeling apparatus according to the present invention defines a basic action unit of a worker.

In FIG. 8 , it is assumed that a basic action unit is defined for workers in an exhibition hall and a restaurant. The basic action unit shown in FIG. 8 is extracted from the actual service provision situation of the workers in the exhibition hall and the restaurant, and can be commonly applied in different environments of the exhibition hall and the restaurant. That is, it may be commonly applicable to exhibition hall and restaurant workers.

The basic action unit may consist of gaze, pointing, movement, and utterance content.

Eye contact (worker makes eye contact for face-to-face interaction with customers), objects (workers look at objects (ex: exhibits, dishes, etc.)), customers (workers look at customers (many people including companions) ) may be included. Pointing includes things (the worker points to the object) and the customer (the worker points to the customer). Movement includes objects (the worker moves in the direction of the object and stops), the customer (the worker moves in the direction of the customer and stops), and others (the worker wanders around the customer or object). The content of the utterance includes things (workers talk about things), special issues (workers talk about unusual things (emergency situations, dangerous situations)), questions (workers ask questions to customers), answers (workers talk to customers) answers the questions of the customer), and jigsaw (the worker responds to the customer's words), etc.

The service behavior described in FIGS. 7 and 8 can be applied to service domains (cafe, medical service, etc.) other than the exhibition hall and restaurant.

9 is a diagram illustrating a robot motion modeling process according to the present invention.

A plurality of service proficiencies and a service behavior, which is a measure for evaluating which one of the plurality of service proficiencies corresponds to, are defined (S901).

The plurality of service skill levels may include at least one of a beginner level, an intermediate level level, and an expert level.

The service behavior is commonly applicable to workers of a predetermined service domain. A service action can be composed of a basic action unit and a service action unit. Here, the basic action unit may include at least one of gaze, movement, pointing, and utterance content. In addition, the service action unit may include at least one of flexibility, initiative, risk awareness, interpersonal skills, and service recovery.

A recorded image of a service performed by a service provider corresponding to each of a plurality of service skill levels is received (S902).

A service action is extracted from the recorded image, and a section corresponding to the service action is displayed (S903).

Based on the interval, a difference in service behavior between service providers corresponding to each of a plurality of service proficiency levels is statistically analyzed, and an analysis result is derived (S904).

Specifically, the robot motion modeling apparatus 100 determines the frequency and duration of actions of the basic action unit and the service action unit based on the section, and correspondingly determines the service action between the service providers corresponding to each of a plurality of service proficiency levels. difference can be analyzed.

Also, the robot motion modeling apparatus 100 may model a motion pattern corresponding to each of the plurality of service proficiency levels based on the analysis result. In this case, the skill level of the robot may be determined by comparing the motion of the robot with the motion pattern, or the motion of the robot may be modeled to correspond to the motion pattern.

As such, in the present invention, in order to model the service behavior of the service robot and define the service behavior goal reached as the intelligence of the service robot develops, the behaviors of novice and skilled employees who actually work in the service domain are compared and analyzed. can

In this case, it is possible to compare and analyze the service behavior of actual field workers required for the development of service robots to be put into the field.

10 is a diagram illustrating a computing device according to an embodiment of the present invention.

The computing device TN100 of FIG. 10 may be the robot motion modeling device 100 described herein.

In the embodiment of FIG. 10 , the computing device TN100 may include at least one processor TN110 , a transceiver device TN120 , and a memory TN130 . Also, the computing device TN100 may further include a storage device TN140 , an input interface device TN150 , an output interface device TN160 , and the like. Components included in the computing device TN100 may be connected by a bus TN170 to communicate with each other.

The processor TN110 may execute a program command stored in at least one of the memory TN130 and the storage device TN140. The processor TN110 may mean a central processing unit (CPU), a graphics processing unit (GPU), or a dedicated processor on which methods according to an embodiment of the present invention are performed. The processor TN110 may be configured to implement procedures, functions, and methods described in connection with an embodiment of the present invention. The processor TN110 may control each component of the computing device TN100 .

Each of the memory TN130 and the storage device TN140 may store various information related to the operation of the processor TN110 . Each of the memory TN130 and the storage device TN140 may be configured as at least one of a volatile storage medium and a nonvolatile storage medium. For example, the memory TN130 may include at least one of a read only memory (ROM) and a random access memory (RAM).

The transceiver TN120 may transmit or receive a wired signal or a wireless signal. The transceiver TN120 may be connected to a network to perform communication.

On the other hand, the embodiment of the present invention is not implemented only through the apparatus and/or method described so far, and a program for realizing a function corresponding to the configuration of the embodiment of the present invention or a recording medium in which the program is recorded may be implemented. And, such an implementation can be easily implemented by those skilled in the art from the description of the above-described embodiments.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements by those skilled in the art using the basic concept of the present invention as defined in the following claims are also present. It belongs to the scope of the invention.

100: robot motion modeling device 110: setting unit
120: image acquisition unit 130: image processing unit
140: analysis unit 410: beginner service video
420: expert service video

Claims (12)

In the robot motion modeling apparatus,
a setting unit defining a plurality of service proficiencies and defining a service behavior as a measure for evaluating which of the plurality of service proficiencies corresponds to;
an image acquisition unit for receiving a recorded image of a service performed by a service provider corresponding to each of the plurality of service skill levels;
an image processing unit for extracting the service behavior from the recorded image and displaying a section corresponding to the service behavior; and
An analysis unit for statistically analyzing a difference in the service behavior between the service providers corresponding to each of the plurality of service proficiency levels based on the section, and deriving an analysis result,
The service behavior is commonly applicable to workers of a predetermined service domain and consists of a basic behavior unit and a service behavior unit,
The analysis unit determines, based on the section, the frequency of action and the action duration of the basic action unit and the service action unit, and in response thereto, a difference in the service action between the service providers corresponding to each of the plurality of service proficiency levels to analyze,
The robot behavior modeling device models the service behavior of a service robot applied to an exhibition hall and a restaurant, and defines a goal of the service behavior reached as the intelligence of the service robot develops, a robot behavior modeling device. delete delete According to claim 1,
The basic action unit includes at least one of gaze, movement, pointing, and utterance,
The service action unit includes at least one of flexibility, initiative, risk recognition, interpersonal skills, and service recovery, robot motion modeling device. According to claim 1,
The plurality of service proficiency is,
A robot motion modeling device comprising at least two or more of a beginner level, an intermediate level, and an expert level. According to claim 1,
The analysis unit,
modeling an operation pattern corresponding to each of the plurality of service proficiency levels based on the analysis result;
A robot motion modeling apparatus that compares the motion of the robot with the motion pattern to determine the skill level of the robot or models the motion of the robot to correspond to the motion pattern. In the robot motion modeling method,
defining, by the robot motion modeling apparatus, a service behavior, which is a measure for defining a plurality of service proficiencies, and evaluating which of the plurality of service proficiencies corresponds to;
receiving, by the robot motion modeling device, a recorded image of a service performed by a service provider corresponding to each of the plurality of service skill levels;
extracting, by the robot motion modeling device, the service behavior from the recorded image, and displaying a section corresponding to the service behavior; and
Comprising, by the robot motion modeling apparatus, statistically analyzing a difference in the service behavior between the service providers corresponding to each of the plurality of service proficiency levels based on the section and deriving an analysis result,
The service action is commonly applicable to workers in a predetermined service domain and consists of a basic action unit and a service action unit,
The robot motion modeling device determines the frequency and duration of actions of the basic action unit and the service action unit based on the section, and in response, the service between the service providers corresponding to each of the plurality of service proficiency levels Analyze differences in behavior,
The robot behavior modeling device models the service behavior of a service robot applied to an exhibition hall and a restaurant, and defines a goal of the service behavior reached as the intelligence of the service robot develops,
How to model robot motion. delete delete 8. The method of claim 7,
The basic action unit includes at least one of gaze, movement, pointing, and utterance,
The service behavior unit includes at least one of flexibility, initiative, risk recognition, interpersonal skills and service recovery, a robot behavior modeling method. 8. The method of claim 7,
The plurality of service proficiency is,
A robot motion modeling method comprising at least two or more of a beginner level, an intermediate level, and an expert level. 8. The method of claim 7,
The robot motion modeling device models a motion pattern corresponding to each of the plurality of service proficiency levels based on the analysis result, and compares the robot motion with the motion pattern to determine the skill level of the robot or to the motion pattern. Correspondingly, the robot motion modeling method for modeling the motion of the robot.

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