JP2002239962A - Robot device, and action control method and system of robot device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a conversation between robot devices. SOLUTION: A main robot device generates a scale command in a command generation state ST2 and enters into a waiting state of a reaction of a slave robot device. When the slave robot device outputs a feeling expression sound in responding to the sound command issued by the main robot device, the main robot device recognizes the feeling expression sound so as to output the same feeling expression sound. In a reaction acting state ST4, the main robot selects an action (NumResponse) according to a value of a variable NumResponse obtained by counting the response frequency and expresses the action.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot apparatus, an operation control method of the robot apparatus for controlling the operation of the robot apparatus, and an operation control system of the robot apparatus for controlling the operations of a plurality of robot apparatuses, which is suitable for autonomous operation. Robot device, method for controlling the operation of such a robot device,
And an operation control system for such a robot device.

[0002]

2. Description of the Related Art In recent years, there has been provided a robot device whose external shape is formed by imitating an animal such as a dog or a cat. Some of such robot devices operate autonomously according to external information or internal conditions. For example, the robot device operates according to a command from a user as information from the outside, or operates according to an emotion level indicating an internal state.

For example, the functions of a robot apparatus that operates according to the emotion level indicating the internal state include the following.

A robot apparatus has various states A, B, C and D, for example, as shown in FIG. 15, and transitions between the states under predetermined conditions or timing. It has been done. Here, state A, state B,
The state C and the state D are defined by a posture and an operation performed there.

[0005] Thus, for example, when the emotion is "angry" in the state A, the robot apparatus pronounces "pyrroli lolly" or the like, or in the state B, the emotion is "happy". And pronounce "pipopa".

Further, the function of the robot device operated according to a command from the user realizes, for example, a dialogue (interaction) between the robot device and the user. And a function that operates in response to an external command.

For example, by providing the robot device with a contact sensor for detecting an external contact, the robot device is operated in accordance with the contact of the contact sensor. A responsive function is realized. For example, the contact sensor is installed on the top of the robot device or the like.

On the other hand, the following method can be used for a function operated by an external command.

For example, there is a device using a device that outputs a scale command as an external command. The scale command forms, for example, a command for causing the robot apparatus to perform a predetermined operation with a scale sound.The robot apparatus recognizes a scale command output from an external control device and responds to the scale command. Will be able to express the action. For example, an external control device that outputs such a scale command includes a so-called sound commander. The technology of the control system of the device using such a scale command has been established in recent years.

By such a contact or a musical scale command as information from the outside, for example, the robot apparatus
As shown in the figure, in the standby state, it is detected that "hit (Pat)" has been detected by the contact of the contact sensor on the top of the head, or "hit (Hit)" has been detected due to the strong hit of the contact sensor. To detect. As a reaction, the robot device detects, for example, “pipoper” as a sound indicating anger by detecting “hit” (Pat), or detects “hit” (Hit). For example, as a sound indicating sadness, a pronunciation such as "Pirori Rory" is given. Further, in the case of using a musical scale command (for example, musical scale language), the robot apparatus generates a sound such as “pirori” as a corresponding operation by recognizing the musical scale command.

As described above, the interaction between the user and the robot device has been made possible by affecting the operation of the robot device by the external stimulus or the musical scale command due to the contact.

[0012]

By the way, as described above, the operation of the conventional robot apparatus is determined only by its own emotion, information given by a user or the like. If the robot apparatuses can communicate (communicate with each other), that is, if the robot apparatuses can operate in response to each other, the entertainment of the robot apparatuses is further improved.

[0013] Further, even when it is desired to have a dialogue between the robot devices, the robot devices may not be of the same model. That is, for example, there is a relationship such as a first model robot device and a second model robot device, or a relationship in which different manufacturers provide robot devices. In this case, for example, it is difficult for such robot devices to react with each other.

For example, in a later model robot apparatus,
Usually, the function of the robot device of the starting model can be added. In other words, the starting model robot device is
This means that there are cases where the functions of the later model robot device are not provided. For this reason, even in the case where the interactive function is provided, there is a case in which the interactive function is limited to that between robot apparatuses of the same model.

[0015] However, if it is possible to realize a dialogue between the robot apparatuses having such different dialogue functions, the entertainment will be further enhanced. In addition, it can be said that enabling interaction between such various robot devices leads to effective use of the robot devices as resources.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to provide a robot, a method of controlling the operation of a robot, and a control system of the robot, which allow the robots to interact with each other. I have.

[0017]

In order to achieve the above object, a robot apparatus according to the present invention detects, in a mobile robot apparatus having an operation section, information included in an operation output by another robot apparatus. A motion detection unit, an operation unit control unit that controls the operation unit based on the information detected by the operation detection unit, and a reaction that counts the number of reactions of another robot device based on the operation output by the operation unit. The operation unit control unit outputs an operation by the operation unit according to the number of times of reaction of the another robot device.

A robot apparatus having such a configuration is as follows.
The information included in the operation output by the other robot device is detected by the operation detection unit, and the operation unit is controlled by the operation unit control unit based on the information detected by the operation detection unit to output the operation. At this time, the operation unit control means controls the operation unit according to the number of reactions of the other robot device measured by the number-of-reactions measurement means. Thus, the robot device operates in response to the operation of another robot device.

According to another aspect of the present invention, there is provided a robot apparatus comprising: an operation detecting unit configured to detect information included in an operation output by another robot unit; Operation output means for outputting a corresponding operation.

The robot device having such a configuration is as follows.
The information included in the operation output by the other robot device is detected by the operation detection unit, and the operation corresponding to the information detected by the operation detection unit is output by the operation output unit. Thus, the robot device operates in response to the operation of another robot device.

According to another aspect of the present invention, there is provided an operation control method for a mobile robot device having an operation unit, the method comprising controlling an operation output by another robot device. An operation detecting step of detecting contained information, an operating section controlling step of controlling the operating section based on the information detected in the operation detecting step, and another robot apparatus based on the operation output by the operating section And a reaction number measuring step of measuring the number of times of the reaction. In the operation section control step, an operation is output by the operation section according to the number of reactions of the other robot device. Thus, the robot device operates in response to the operation of another robot device.

According to another aspect of the present invention, there is provided an operation control method for a robot apparatus, comprising: an operation detection step of detecting information included in an operation output by another robot apparatus; And outputting an operation corresponding to the detected information to one robot device. According to such an operation control method for a robot device, one robot device operates in response to the operation of another robot device.

According to another aspect of the present invention, there is provided a motion control system for a robot apparatus according to the present invention, wherein the motion detection means detects information included in a motion output by a partner robot apparatus, and the motion detection means comprises: A plurality of robot apparatuses each including an operation output unit that outputs an operation corresponding to the detected information.

In such an operation control system for a robot device, the robot device detects information included in the operation output by the other robot device by the operation detection means, and performs an operation corresponding to the information detected by the operation detection means. Output by the operation output means. Accordingly, in the operation control system of the robot device, the robot device operates in response to the operation of the other robot device.

According to another aspect of the present invention, there is provided an operation control method for a robot apparatus, comprising the steps of: outputting a predetermined operation when one robot apparatus enters a predetermined state; And a reaction operation output step in which another robot device outputs an operation corresponding to the predetermined operation output by one robot device. According to the operation control method of the robot device, the robot device operates in response to the operation of the other robot device.

[0026]

Embodiments of the present invention will be described below in detail with reference to the drawings. This embodiment is an autonomous robot apparatus that acts autonomously in accordance with external information, a surrounding environment (or an external factor), or an internal state (or an internal factor).

In the embodiment, first, the configuration of the robot device will be described, and thereafter, the application portion of the present invention in the robot device will be described in detail.

(1) Configuration of Robot Apparatus According to the Present Embodiment As shown in FIG. 1, a so-called pet-type robot having a shape imitating, for example, a "dog" is provided. 3A, 3B, 3C, and 3D are connected, and a head unit 4 and a tail unit 5 are connected to a front end and a rear end of the body unit 2, respectively.

As shown in FIG. 2, a CPU (Central Processing Unit) 10 and a DRA
M (Dynamic Random Access Memory) 11, Flash ROM (Read 0nly Memory) 12, PC (Personal Co.)
A controller 16 formed by interconnecting a card interface circuit 13 and a signal processing circuit 14 via an internal bus 15 and a battery 17 as a power source of the robot apparatus 1 are housed therein. . The body unit 2 also houses an angular velocity sensor 18 and an acceleration sensor 19 for detecting the acceleration of the direction and movement of the robot device 1.

The head unit 4 has a CCD (Charge Coupled Device) camera 20 for capturing an image of an external situation, and a pressure applied by a physical action such as "stroke" or "hit" from a user. , A distance sensor 22 for measuring a distance to an object located ahead, a microphone 23 for collecting external sounds, and a speaker for outputting a sound such as a cry 24 and LEDs (Light Emitting Diodes (not shown)) corresponding to the “eyes” of the robot apparatus 1 are arranged at predetermined positions.

Further, the joints of the leg units 3A to 3D, the leg units 3A to 3D, and the trunk unit 2
The actuators 25 _{1 for the} degrees of freedom are respectively provided at the connection portions of the head unit 4 and the trunk unit 2, and at the connection portion of the tail 5 A of the tail unit 5.
To 25 _n and potentiometers 26 _{1 to} 26 _n are provided. For example, each of the actuators 25 _{1 to} 25 _n has a servomotor. By driving the servo motor, the leg units 3A to 3D are controlled, and transition to a target posture or operation is made.

The angular velocity sensor 18, acceleration sensor 19, touch sensor 21, distance sensor 22, microphone 23, speaker 24 and each potentiometer 2
6 _1-26 various sensors and LED and the actuator ₂₅ 1 to 25 _n, such as _n is connected to the signal processing circuit 14 of the control unit 16 via a corresponding hub ₂₇ 1 ~ 27 _n, CCD camera 20 and the battery 1
7 are directly connected to the signal processing circuit 14, respectively.

The signal processing circuit 14 sequentially takes in the sensor data, image data and audio data supplied from each of the above-described sensors, and sequentially stores them at predetermined positions in the DRAM 11 via the internal bus 15. In addition, the signal processing circuit 14 sequentially takes in remaining battery power data indicating the remaining battery power supplied from the battery 17 and stores the data at a predetermined position in the DRAM 11.

The sensor data, image data, audio data, and remaining battery data stored in the DRAM 11 in this manner are thereafter transmitted to the robot device 1 by the CPU 10.
It is used when controlling the operation of.

Actually, at the initial stage when the power of the robot apparatus 1 is turned on, the CPU 10 executes the control program stored in the memory card 28 or the flash ROM 12 inserted in the PC card slot (not shown) of the body unit 2 into a P program.
The data is read out via the C card interface circuit 13 or directly and stored in the DRAM 11.

The CPU 10 then determines the status of itself and its surroundings and the usage based on the sensor data, image data, audio data, and remaining battery data sequentially stored in the DRAM 11 from the signal processing circuit 14 as described above. Judge the instruction from the person and the presence or absence of the action.

Furthermore, CPU 10 is configured to determine a subsequent action based on the control program stored in the determination result and DRAM 11, by driving the actuator ₂₅ 1 to 25 _n required based on the determination result, the head The unit 4 can be swung up and down, left and right, the tail 5A of the tail unit 5 can be moved, and each leg unit 3A can be moved.
3D is driven to perform an action such as walking.

At this time, the CPU 10 generates audio data as necessary, and supplies the generated audio data to the speaker 24 as an audio signal via the signal processing circuit 14, thereby outputting an audio based on the audio signal to the outside. LE above
D is turned on, off or blinked.

In this way, the robot apparatus 1 can autonomously act in accordance with the situation of itself and the surroundings, and instructions and actions from the user.

(2) Software Configuration of Control Program Here, the software configuration of the above-described control program in the robot apparatus 1 is as shown in FIG. In FIG. 3, a device driver layer 30 is located at the lowest layer of the control program, and includes a plurality of device drivers.
It comprises a device driver set 31 composed of drivers. In this case, each device driver
An object that is allowed to directly access hardware used in a normal computer, such as a CCD camera 20 (FIG. 2) and a timer, and performs processing in response to an interrupt from the corresponding hardware.

The robotic server object 32 is located at the lowest layer of the device driver layer 30 and includes, for example, the various sensors and actuators 2 described above.
A virtual robot 33 comprising a software group that provides a 5 _to 253 interface for accessing hardware such as _n, a bus word manager 34 made of a software suite for managing the power supply switching, the other various device A device driver manager 35, which is a group of software for managing drivers, and a designed driver, which is a group of software for managing the mechanism of the robot device 1,
And a robot 36.

The manager object 37 includes an object manager 38 and a service manager 39.
It is composed of Object Manager 38
Is a software group that manages activation and termination of each software group included in the robotic server object 32, the middleware layer 40, and the application layer 41, and includes a service manager 39.
Are a group of software for managing the connection of each object based on the connection information between the objects described in the connection file stored in the memory card 28 (FIG. 2).

The middleware layer 40 is located on the upper layer of the robotic server object 32 and is composed of a group of software for providing basic functions of the robot apparatus 1 such as image processing and sound processing. I have. Further, the application layer 41 is located above the middleware layer 40, and
It is composed of a software group for determining an action of the robot apparatus 1 based on a processing result processed by each software group constituting the layer 40.

FIG. 4 shows specific software configurations of the middleware layer 40 and the application layer 41, respectively.

As shown in FIG. 4, the middle wear layer 40 includes noise detection, temperature detection, brightness detection, scale recognition, distance detection, posture detection, touch sensor,
Each signal processing module 50 for motion detection and color recognition
58 and input semantics converter module 5
9 and an output semantics converter module 68 and signal processing modules 61 to 67 for attitude management, tracking, motion reproduction, walking, fallback recovery, LED lighting and sound reproduction. And an output system 69.

Each signal processing module 50 to 50 of the recognition system 60
Numeral 58 fetches corresponding data among the sensor data, image data, and audio data read from the DRAM 11 (FIG. 2) by the virtual robot 33 of the robotic server object 32, and performs predetermined processing based on the data. Is given to the input semantics converter module 59. Here, for example, the virtual robot 33 is configured as a part that exchanges or converts signals according to a predetermined communication protocol.

The input semantics converter module 59 detects "noisy", "hot", "bright", "ball detected", and "fallover" based on the processing results given from each of the signal processing modules 50 to 58. Self and surrounding conditions such as `` has been stroked '', `` stroked '', `` hitted '', `` he heard the domes '', `` detected a moving object '' or `` detected an obstacle '', and the user , And outputs the recognition result to the application layer 41 (FIG. 2).

As shown in FIG. 5, the application layer 41 comprises five modules: a behavior model library 70, a behavior switching module 71, a learning module 72, an emotion model 73, and an instinct model 74.

As shown in FIG. 6, the behavior model library 70 includes “when the battery level is low”, “returns to fall”, “when avoiding obstacles”, and “when expressing emotions”. , And independent action models 70 ₁ to 70 _n are respectively provided corresponding to some pre-selected condition items such as “when a ball is detected”.

The behavior models 70 ₁ to 70 _n
Are stored in the emotion model 73 as described later, as necessary, when a recognition result is given from the input semantics converter module 59 or when a certain period of time has passed since the last recognition result was given. The next action is determined with reference to the corresponding emotion parameter value and the corresponding desire parameter value held in the instinct model 74, and the determination result is output to the action switching module 71.

In the case of this embodiment, each of the behavior models 70 ₁ to 70 _n uses the following method to determine the next behavior.
One node (state) NODE _{0 to} N as shown in FIG.
The transition probability _P 1 to P _n which is set respectively arc _ARC 1 _{~ARC n} connecting between whether to transition from ODE _n to any other node NODE ₀ ~NODE _n each node NODE ₀ ~NODE _n An algorithm called a finite stochastic automaton that determines stochastically on the basis is used.

More specifically, each of the behavior models 70 ₁ to 70 _1
n has a state transition table 80 as shown in FIG. 8 for each of the nodes NODE _{0 to} NODE _n corresponding to the nodes NODE ₀ to NODE _n forming their own behavior models 70 ₁ to 70 _n , respectively. ing.

In this state transition table 80, the node NO
Input events (recognition results) as transition conditions in DE _{0 to} NODE _n are listed in order of priority in the column of “input event name”, and further conditions for the transition conditions are listed in the columns of “data name” and “data range”. It is described in the corresponding line.

Therefore, in the node NODE ₁₀₀ represented by the state transition table 80 in FIG.
LL) ”, the“ size (SIZ) of the ball given together with the recognition result is given.
E) is in the range of “0 to 1000”, or when a recognition result of “obstacle detected (OBSTACLE)” is given, the “distance (DISTANCE)” to the obstacle given together with the recognition result is given. )) Is in the range of “0 to 100”, which is a condition for transitioning to another node.

In the node NODE ₁₀₀ , even when the recognition result is not input, the behavior model 70 ₁
Of the parameter values of each emotion and each desire held in the emotion model 73 and the instinct model 74 which are periodically referred to by the _n- 70n, “joy” and “surprise” held in the emotion model 73 are stored. )) Or "Sadness (SUDNESS)" when the parameter value is in the range of "50 to 100", it is possible to transition to another node.

In the state transition table 80, the names of nodes that can transition from the nodes NODE ₀ to NODE _n are listed in the row of “transition destination node” in the column of “transition probability to another node”. Input event name ",
Other nodes NOD that can transition when all the conditions described in the columns of "data value" and "data range" are met
The transition probabilities from E _{0 to} NODE _n are respectively described in corresponding portions in the column of “transition probability to other nodes”, and the action to be output when transitioning to that node NODE _{0 to} NODE _n is “other It is described in the row of “output action” in the column of “transition probability to node”. Note that the sum of the probabilities of each row in the column of “transition probability to another node” is 100
[%].

Therefore, in the node NODE ₁₀₀ represented by the state transition table 80 in FIG. 8, for example, “ball is detected (BALL)”, and “SIZE” of the ball is in the range of “0 to 1000”. Is given, the probability of “30 [%]” and “node N
ODE ₁₂₀ (node 120) "and then" A
The action of “CTION1” is output.

Each of the behavior models 70 ₁ to 70 _n has the node NO described in the state transition table 80 as described above.
DE ₀ to NODE _n are connected to each other, and when a recognition result is given from the input semantics converter module 59 or the like, the probability is calculated using the state transition table of the corresponding nodes NODE ₀ to NODE _n. The next action is determined, and the determination result is output to the action switching module 71.

The action switching module 71 shown in FIG. 5 includes the action models 70 ₁ to 70 _n of the action model library 70.
Among the actions which are output from, select an action that is output from a predetermined higher priority behavior model 70 ₁ to 70 _n, the command to the effect that execute the action (hereinafter, referred to as an action command )) Middleware
The output is sent to the output semantics converter module 68 of the layer 40. Incidentally, in this embodiment, the behavior model, labeled on the lower side in FIG. 6 70 ₁ to 70 _n
The higher the priority, the higher the priority.

The action switching module 71 notifies the learning module 72, the emotion model 73, and the instinct model 74 of the completion of the action based on the action completion information provided from the output semantics converter module 68 after the action is completed. .

On the other hand, the learning module 72 inputs the recognition result of the teaching received from the user, such as “hit” or “stroke”, among the recognition results given from the input semantics converter module 59. I do.

Then, based on the recognition result and the notification from the action switching module 71, the learning module 72 lowers the probability of occurrence of the action when "beaten (scolded)" and "strokes ( praised obtained) "sometimes to increase the expression probability of that action, behavior model 70 _1-7 corresponding in behavioral model library 70
Change the corresponding transition probabilities of 0 _n .

On the other hand, the emotion model 73 indicates “joy (jo
y) "," sadness "," anger ",
For a total of six emotions, “surprise”, “disgust”, and “fear”, a parameter indicating the strength of the emotion is stored for each emotion. Then, the emotion model 73 converts the parameter values of each of these emotions into specific recognition results such as “hit” and “stroke” given from the input semantics converter module 59 and the elapsed time and action switching module 71. Update periodically based on notification from

More specifically, the emotion model 73 is a predetermined calculation based on the recognition result given from the input semantics converter module 59, the behavior of the robot device 1 at that time, the elapsed time since the last update, and the like. The amount of change of the emotion at that time calculated by the equation is expressed by △ E
[T], E [t] of the current parameter value of the emotion, the coefficient representing the sensitivity of the emotion as k _e, (1) the parameter value of the emotion in a next period by equation E [t +
1] is calculated, and the current parameter value E of the emotion is calculated.
The parameter value of the emotion is updated by replacing it with [t]. The emotion model 73 updates the parameter values of all emotions in the same manner.

[0065]

(Equation 1)

The degree to which each recognition result and the notification from the output semantics converter module 68 affect the variation ΔE [t] of the parameter value of each emotion is determined in advance. Is the amount of change in the parameter value of the emotion of “anger” △ E
[T] is greatly affected, and the recognition result such as “stroke” is the variation amount of the parameter value of the emotion of “joy” 喜 び E
[T] is greatly affected.

Here, the notification from the output semantics converter module 68 is so-called action feedback information (action completion information), information on the appearance result of the action, and the emotion model 73 also uses such information. Change emotions. This is, for example, a behavior such as "barking" that lowers the emotional level of anger. The notification from the output semantics converter module 68 is also input to the learning module 72 described above, the learning module 72 changes the corresponding transition probability of the behavioral models 70 ₁ to 70 _n based on the notification.

The feedback of the action result may be made by the output of the action switching module 71 (the action to which the emotion is added).

On the other hand, the instinct model 74 is “exercise greed (exer
cise) "," affection "," appetite "
e) ”and“ curiosity ”4
For each of the desires, a parameter indicating the strength of the desire is stored for each of the desires. And instinct model 7
4 periodically updates the parameter values of these desires based on the recognition result given from the input semantics converter module 59, the elapsed time, the notification from the action switching module 71, and the like.

More specifically, the instinct model 74 determines, based on the recognition result, the elapsed time, the notification from the output semantics converter module 68, and the like, for “exercise desire”, “affection desire”, and “curiosity”. The change amount of the desire at that time calculated by the arithmetic expression is ΔI [k],
Assuming that the parameter value of the current desire is I [k] and the coefficient k _i representing the sensitivity of the desire is a parameter value I [k +
1] is calculated, and the calculation result is replaced with the current parameter value I [k] of the desire to update the parameter value of the desire. Similarly, the instinct model 74 updates the parameter values of each desire except “appetite”.

[0071]

(Equation 2)

The degree to which the recognition result and the notification from the output semantics converter module 68 affect the variation ΔI [k] of the parameter value of each desire is determined in advance. For example, the output semantics converter The notification from the module 68 has a large effect on the variation ΔI [k] of the parameter value of “fatigue”.

In the present embodiment, the parameter values of each emotion and each desire (instinct) are regulated so as to fluctuate in the range of 0 to 100, respectively.
_e, the value of k _i is also set individually for each emotion and each desire.

On the other hand, as shown in FIG. 4, the output semantics converter module 68 of the middleware layer 40 is “forward” and “pleased” given from the action switching module 71 of the application layer 41 as described above. , "Sound" or "tracking (follow the ball)" is given to the corresponding signal processing modules 61 to 67 of the output system 69.

The signal processing modules 61 to 6
7, given the behavior command based on the action command, and servo command value to be applied to the actuator 25 1 _{to 25} n _(Fig. 2) corresponding to perform that action, the output from the speaker 24 (FIG. 2) Generating sound data of the sound to be played and / or driving data to be given to the LED of the “eye”,
These data are transferred to the virtual robot 33 of the robotic server object 32 and the signal processing circuit 14.
The corresponding actuators 25 ₁ to 25 ₁ through (FIG. 2)
_25n or the speaker 24 or the LED.

In this way, the robot apparatus 1 can perform autonomous actions according to its own (internal) and surrounding (external) conditions and instructions and actions from the user based on the control program. It has been made possible.

(3) Configurations and the Like Achieved by Applying the Present Invention A robot device having the above-described configuration can operate in response to an operation of another robot device by applying the present invention. . Thereby, conversation between the robot devices becomes possible. Further, the robot device can also perform a dialog with a robot device having a different interactive function. First, a description will be given of a robot apparatus to which the present invention is applied, which is capable of interacting with a robot apparatus having a different interactive function, and thereafter, a robot apparatus to which the present invention is applied, which performs an interaction based on the same interactive function. Will be described.

(3-1) Robot Apparatus Conversing with Robot Apparatus with Different Dialog Function The robot apparatus to which the present invention is applied can communicate with another robot apparatus having a different conversation function. It has been.

As the robot apparatus having different interactive functions,
A robot device of a different model, a robot device in which another robot device is provided by a different manufacturer, or a robot device of the same manufacturer but a different model number or model may be used. In the embodiment, a case will be described in which the user interacts with another robot apparatus configured to be controlled by a musical scale command as an interactive function. That is, as described above with reference to FIG. 16 described above, another robot apparatus to be a conversation partner generates a predetermined action, such as “pyrroline”, as a predetermined operation by recognizing a scale command including a scale sound during standby. This is the case of a robot device.

The robot apparatus according to the embodiment of the present invention has such a scale command output function, and the robot apparatus of which the operation is controlled by such a scale command has its own function. By performing a reaction operation (for example, a synchronous operation), the user can appreciate such an operation in which the robot apparatuses react and appear as a dialog between the robot apparatuses.

The robot apparatus according to the embodiment of the present invention realizes a dialog with another robot apparatus as described below. In the description, the robot device according to the embodiment of the present invention is referred to as a master robot device, and a robot device having an interactive function different from that of the master robot device is referred to as a slave robot device.

The main robot unit includes an operation detecting unit for detecting information included in an operation output by the slave robot unit as another robot unit, and an operation output unit for outputting an operation corresponding to the information detected by the operation detecting unit. And Specifically, as described above, the main robot device has a CPU
The CPU 10 realizes an operation detection function for detecting information included in an operation output by the slave robot device and an operation output function for outputting an operation corresponding to the information detected by the operation detection function. are doing.
That is, the CPU 10 realizes such a function by various signal processing modules and the like.

The master robot device has communication means for transmitting and receiving information to and from the slave robot device. The information referred to here is information based on chromatic sounds, and the communication means realizes transmission and reception of information using such chromatic sounds by the speaker 24. Here, the information is semantic information indicating the meaning of the operation. For example, it is information such as the meaning of the motion itself and the emotion included in the motion.

The master robot device having the above-described structure has an interactive function performed with the slave robot device.
This is realized in a series of processing procedures such as a so-called interactive mode. Specifically, the main robot device is shown in FIG.
This is realized as one of the behavior models shown in FIG.

As shown in FIG. 9, the main robot device having such a function, as shown in FIG. 9, is a sound signal generated by the slave robot device at a certain timing in the idling state ST1 such as "emotional expression sound (for example," pyrory "). Recognize. Thereby, the master robot device detects the presence of the slave robot device and knows that the slave robot device is nearby. This recognition indicates that the main robot apparatus has entered a predetermined state, and serves as a trigger indicating that the main robot apparatus has entered a predetermined state for starting or firing an interactive function (for example, an interaction behavior model).

Here, the idling state ST1 is a state in which the main robot device is operating autonomously. That is, for example, a case where the robot apparatus is operating autonomously according to the external environment or its own emotional state.

When recognizing the emotional expression sound emitted by the slave robot device, the master robot device changes the posture to, for example, the “sitting” posture. In addition, the main robot device is not limited to the transition to the “sitting” posture, and may continue to perform the autonomous operation in another posture or as it is.

Then, the main robot device transitions to the command generation state ST2, and generates a scale command composed of scale sounds. For example, the main robot device randomly generates a scale command.

Specifically, the main robot device has a database including various scale commands. Here, the various scale commands have different operation contents to be performed by the slave robot device, and have different scale names and combinations of scale sounds. The scale commands constituting the database that the master robot device has are, for example, scale commands provided in a so-called sound commander for controlling the slave robot device.

For example, as shown in FIG. 10, the main robot device has a database composed of a scale sound pattern of a scale command and the contents of the command.
Here, the command content is an operation content such as a sounding operation that appears when the slave robot device recognizes the corresponding scale pattern. The command realized by the scale command is not limited to the utterance operation, but may be an operation such as changing the posture.

The musical scale command of the main robot device may be registered at the time of manufacture, or may be newly registered or updated later. The main robot device randomly selects a scale command included in such a database or the like, and outputs the selected scale command.

Further, the main robot device can output such a musical scale command in accordance with the operation. Normally, the scale command is a signal pattern for controlling the robot apparatus, and is treated as meaningful in the robot apparatus, but has no meaning from the viewpoint of a human. Accordingly, by causing the main robot apparatus to output an operation corresponding to the meaning of the scale command, the user can also understand the contents of the scale command.

When the master robot device outputs the musical scale command, the master robot device enters a reaction waiting state ST3 of the slave robot device. For example, the main robot device maintains the reaction waiting state ST3 for a predetermined time.

For example, when the slave robot device recognizes the scale command issued by the master robot device, it outputs an emotion expression sound in accordance with the scale command. However, it is unknown whether the robot device always responds to the musical scale command. This is because, for example, the slave robot device may have moved somewhere due to autonomous operation, or the slave robot device may not be able to detect a scale command due to ambient noise or the like. Correspondingly, the master robot device prepares various operations according to the reaction of the slave robot device.

When the slave robot device outputs the emotion expression sound in response to the scale command issued by the master robot device, the master robot device recognizes the emotion expression sound and outputs the same emotion expression sound. For example, the master robot device reads out the emotional expression sound of the slave robot device, which is stored in advance as a database, and outputs this.

The user can watch the operation performed between the master robot device and the slave robot device as a dialogue between the robot devices.

The main robot device recognizes the emotion expression sound (scale response sound), adds 1 to the variable NumResponse, and sets the variable NumTimup to 0. Where the variable NumR
“esponse” is a variable indicating the number of times the slave robot device has reacted. The variable NumResponse is given an initial value of 0 when entering such interactive function processing (or mode). Further, the variable NumTimup is a value indicating the number of times no response has been made to the scale command issued by the main robot apparatus (hereinafter referred to as the number of non-reactions).
For example, the absence of a response from the slave robot device is determined by the absence of a response from the slave robot device for a predetermined time. Similarly, the variable NumTimup is initialized to 0 when entering the process (or mode) of the interactive function.
Is given.

The emotion recognition of the slave robot device is performed by, for example, having a table of scale reaction sounds and corresponding emotions in advance, and referring to the detected scale reaction sounds and the like as a table. Note that the emotion may be recognized by analyzing the pitch, power, or the like of the detected scale reaction sound or the like without having a table in advance.

When the slave robot device reacts, the master robot device causes a predetermined operation to appear as a subsequent reaction operation.

[0100] Here, the main robot apparatus determines the above-mentioned variable Nu.
Make the action appear according to the value of mResponse. The main robot device uses this variable NumResponse as a variable for determining the action action. Specifically, the main robot device performs various actions by action (1), action (2), and acti.
on (3), ...
On (NumResponse) is determined as the operation for the slave robot device.

Since the variable NumResponse indicates the number of reactions of the slave robot device recognized by the master robot device as described above, the larger the number, the greater the number of reactions of the slave robot device. Is shown. In general, as with humans, if a person responds to a movement that expresses their happy state,
It is nice. Because of this, action
The actions (1), action (2), action (3),... Are defined in this order so that the action indicating “joy” gradually becomes more flashy.

In the reaction operation state ST4, the main robot apparatus performs an operation action (NumRespons) according to the variable NumResponse at that time from the operation defined as described above.
Select e) to make the action appear. That is, when the variable NumResponse is 1 to 5, the main robot device causes the action (NumResponse) corresponding thereto to appear, transits to the command generation state ST2 again, randomly selects a scale command, and selects the scale command. Output scale command. Then, in the reaction waiting state ST3, the master robot device waits for a reaction of the slave robot device. Here, if there is a response from the slave robot device, a process such as adding a 1 to the variable NumResponse is performed, as described above, by causing a predetermined operation to appear according to the reaction operation performed by the slave robot device. Then, the main robot device causes an operation to show the joy of being flashy according to the variable NumResponse added by one.

Then, the main robot apparatus sets the variable NumRespo
If nse exceeds 5, an operation of "Banzai" appears as an action action (6), and the idling state ST
Return to 1. That is, the master robot device ends the process (or mode) for dialogue with the slave robot device,
It returns to the autonomous operation state again.

As described above, the master robot device has various actions in response to the reaction of the slave robot device and the number of times of the reaction, whereby the master robot device and the slave robot device perform the operations. The user can appreciate the operation as a conversation between the robot devices.

Further, the master robot device gradually makes the operation showing “joy” in response to the number of reactions of the slave robot device, but this is grasped as a so-called modulation of the operation.

On the other hand, when the reaction of the slave robot device cannot be recognized within the predetermined time in the reaction waiting state ST3, the master robot device makes an operation indicating "sad" appear. Then, the robot apparatus sets a variable NumTimup indicating the number of non-reactions.
Is added to. Here, the case where there is no response from the slave robot device is, for example, a case where the slave robot device has moved somewhere due to autonomous operation, or a case where the slave robot device detects a musical scale command due to ambient noise or the like. For example, when it is not possible.

Note that, even when the slave robot device does not respond, the slave robot device makes an operation indicating “sad”, which means that the master robot device does not operate the slave robot device. It can be said that it is recognized as a reaction operation.

When the slave robot device does not respond, the master robot device makes the above-described operation appear, again selects a scale command in the command generation state ST2, and outputs the selected scale command. Then, in the reaction waiting state ST3 again, the slave robot device waits for a reaction. The main robot device waits for this reaction ST3.
If it is not possible to recognize the reaction of the slave robot device a predetermined number of times in succession, that is, if the number of non-reactions has reached a predetermined value, a more sad operation appears. In this example, when the response of the slave robot device cannot be recognized four times consecutively, that is, when the variable NumTimup indicating the number of times of non-reaction exceeds 3, the master robot device determines that the operation is “very”. An operation indicating "sad" appears, and the process returns to the idling state ST1.

As described above, even when there is no response from the slave robot device, the master robot device performs various operations according to the number of times that the slave robot device does not react. The user can watch the operation performed between the robot devices as a dialogue between the robot devices.

In the present embodiment, when a “very sad” operation appears from the above-described reaction waiting state ST3, the reaction of the slave robot device is continuously performed in the reaction waiting state ST3 to which a plurality of transitions are made. And could not be detected. That is, in the reaction waiting state ST3, when there is a reaction of the slave robot device, the variable NumTimup indicating the number of times of non-reaction has been initialized to zero. For example, even when there is no response from the slave robot device, when the slave robot device responds to the output of the subsequent operation, the master robot device produces an operation indicating “happy” and a variable indicating the number of non-reactions. NumTimup is initialized to 0.

It is needless to say that the processing is not limited to the above-described processing. For example, the variable NumTimup is not set to 0 in response to the response from the slave robot device, that is, the response is not performed. Irrespective of this, the number of times there is no reaction can be counted as it is.

As described above, the master robot device determines the reaction operation of the slave robot device to the operation performed by the slave robot device (including an operation that does not react here) and the number of times of reaction (or the number of times of non-reaction). Various operations can appear accordingly. This allows users to
It is possible to apprehend such an action of causing the robot apparatuses to react and appear as a conversation between the robot apparatuses.

The main robot device controls such a dialogue in synchronization with its own operation of a starting model whose operation is controlled by an external control command such as a scale command or a robot device of another company. This is achieved by: Therefore, the user can appreciate the reaction operation between the robot devices of different models or other companies as a dialogue between the robot devices.

(3-2) Robot Device Performing a Dialogue with the Same Dialogue Function A dialogue between two robot devices to which the present invention is applied based on the dialogue function will be described. The robot devices described here have the same interactive function with each other,
This realizes a dialog with the other robot device.

Each of the robot apparatuses includes an operation detecting means for detecting information included in an operation output from the other robot apparatus, and an operation output means for outputting an operation corresponding to the information detected by the operation detecting means. I have. Specifically, the main robot device has an operation detection function of detecting information included in an operation output by the other robot device by the CPU 10 and an operation output function of outputting an operation corresponding to the information detected by the operation detection function. This has been achieved.
That is, the CPU 10 realizes such a function by various signal processing modules and the like.

Further, both the robot devices output a predetermined operation when a predetermined state is attained. Thus, when one robot device enters a predetermined state, a predetermined operation is output by the operation output function, and the other robot device performs an operation corresponding to the predetermined operation output by the one robot device. Output.

As described above, each of the robot devices has a similar configuration, and realizes a dialog with the other robot device. Hereinafter, a dialog performed between the robot devices will be described with reference to FIG.

As shown in FIG. 11, both of the robot devices are in the idling states ST11 and ST21. Then, when one of the robot devices is in a predetermined state,
The appearance of the action initiates a dialog between the robotic devices. Here, the predetermined state is when, for example, the probability or the emotion level reaches a certain value, or when the presence of another robot device is recognized. The emotion level is, for example, the parameter value of the emotion described above. For example, the detection of such a predetermined state is performed by monitoring at a predetermined sampling interval. If the predetermined state cannot be detected at such a sampling timing, the idle state ST11 is set as time out. May be returned. Hereinafter, a robot device which has been brought into a predetermined state and an action for dialogue first appears is referred to as a “master”, and the other robot devices are referred to as a “recipient”.

As described above, both of the robot devices are configured to output a predetermined operation when a predetermined state is attained. Therefore, depending on the timing of the predetermined state, the “other robot device” side described above becomes the “master” and the “one robot device” becomes the “recipient”. That is, both robot devices
Depending on the situation, it can be a “master” or a “recipient”.

As described above, the robot apparatus which is initially set to the predetermined state and which activates or fires the interactive function and is set as the master utters "Yah-ho" and "tone scale (1)" in operation ST12. Here, “Yahoo” is an utterance as a language, and “scale note (1)” is a scale note such as “pipopa”, for example, and is merely a sound sequence. In the following description, the scale sounds (2), (3), (4), etc. will be described as the scale sounds, but each of them has a different scale pattern. Further, such scale note (1), scale note (2), scale note (3),... Are conventionally established techniques as scale commands and the like.

Here, the reason why the scale sound is also output in correspondence with the utterance such as “Yah-ho” is that the word “Yah-ho” as the utterance action is interpreted by the robot apparatus of the receiver of the conversation partner. This is the case when it cannot be recognized as being. If the robot device can recognize the word "Yahoo" as the utterance operation, this is not necessary. Therefore, the case where the scale sound is output together with the operation is a case where the other party cannot recognize the operation as meaningful, for example, a case where the utterance as the operation is a long sentence. In such a case, the scale sound acts between the robot devices as an effective dialogue means.

The receiver recognizes such a utterance of the master, and changes its reaction operation S from the idling state ST21.
Transition to T22. That is, the receiver activates the interactive function with the utterance of the master as a trigger.

The recipient performs the reaction operation ST22 as follows:
"Yaho" and "scale tone (2)" are uttered. Here, the receiver recognizes the utterance made by the master based on the “scale sound (1)” of the “yahoo” and the “scale sound (1)” uttered by the master.

As described above, the scale sound is a technique established as a scale command or the like in a conventional robot device or the like, and by applying such an established scale sound recognition system, Accurately recognizes a command via a scale pattern of a scale sound.

The master recognizes the utterance of the "scale tone (2)" of the recipient, and utters "happy" and "scale scale (3)" as the reaction operation ST13. Then, such a reaction operation to the operation of the other party is repeated while changing its content.

That is, the receiver recognizes the utterance of the "scale tone (3)" of such a master again, and utters "calmness" and "scale tone (4)" as the reaction operation ST23. Here, “calm” is an utterance indicating a content such as “quietly”. Then, the master recognizes the utterance of the “scale tone (4)” of the recipient, and utters “happy!” And “scale tone (5)” as the reaction operation ST14. Here, “happy!” Is, for example, an utterance that simply emphasizes “happy”. Further, the receiver recognizes the utterance of the "scale note (5)" of the master, and utters "happy" and "scale note (6)" as the reaction operation ST24. On the contrary,
The master recognizes the utterance of the "scale note (6)" of the receiver, and utters "satisfaction" as the final operation of the interactive operation. The recipient correspondingly also utters “satisfaction”, for example, in synchronization with the utterance of such a master.

As described above, the two robot apparatuses, the master and the receiver, can exhibit a reaction operation to the operation performed by the other party. Accordingly, the user can appreciate the action that appears in such a way that the robot apparatuses react and appear as a dialog between the robot apparatuses.

As described above, by utilizing the scale sound recognition system established as a technology,
Although the reaction action of the other party is recognized, the present invention is not limited to this, and it is possible to recognize a meaningful language spoken by a robot device such as "Yahoo" as it is and perform the reaction action. Not even. Thereby, the user can grasp that the dialog performed by the robot device is more realistic.

When the reaction from the other robot device is not within the predetermined time, the time may be expired and the operation may return to the idling state again.

FIG. 12 to FIG. 14 show, in chronological order, reaction operations between the robot devices (between the master and the receiver) realized by such an interactive function.

FIG. 12 shows a dialogue exchange when the master and the receiver are both happy.
3 shows the interaction when the master is angry and the recipient is angry, and FIG. 14 shows the dialogue when the master issues a command and the recipient acts in response to the command. Indicates an exchange. For example, such various interactive functions are realized as a behavior model.

More specifically, as shown in FIG. 12, when the master utters “Yahoo!”, the receiver receives
As the reaction operation, "Yah-ho" is uttered. In addition,
When it is relatively easy to recognize such utterance, it is not necessary to output the scale sound. In other words, in a case where “Yahoo” or the like can be easily recognized, as shown in FIG. 12, the master does not output the scale sound correspondingly,
Only "Yahoo" is uttered, and the other robot device also recognizes the "Yahoo".

The master utters “Happy” and “scale note (scale command)” in response to the utterance of “Yahoo” of the recipient, whereas the recipient utters “Master”. In response to the utterances of "happy" and "scale", the utterance of "scale" is recognized and
m) ”and“ scale ”. Then, again, the master recognizes the utterance of "scale note" for the utterance of "calm (calm)" and "scale note" of the receiver, and "happy! (Further happy)" and "scale note". , While the recipient recognizes the "scale tone" for such a master's "happy!" And "scale tone" utterances, and "happy" and "scale tone". ". Then, the master utters “comfort” as the final action of the dialog with respect to the utterance of “happy” and “scale” of the receiver. In sync with this, the recipient also sees the "comfort"
Utter.

As shown in FIG. 13, when the master gets angry and the recipient gets angry, first,
When the master utters “Yahoo”, the receiver utters “Yahoo” as a reaction.
Then, the master utters “anger” and “scale note (scale command)” in response to the utterance of “yahoo” of the recipient, whereas the recipient utters “anger” of such master. With respect to the utterances of "anger" and "scale note", the utterance of "scale note" is recognized, and "calm" and "scale note" are uttered. And again,
The master recognizes the utterance of the "scale sound" with respect to the utterance of the "calm" and "scale tone" of the receiver, and "gets angry"
And the utterance of "scale", while the recipient recognizes the "scale" for such master's "angry" and "scale" utterances and "sad ( sa
d) ”and“ scale ”. Then, the master utters “angry” as the final action of the dialog with respect to the utterance of “sad” and “scale” of the receiver. Synchronously, the recipient speaks "sad" as the final action of the dialogue.

As shown in FIG. 14, when the master issues a command and the receiver operates in response to the command, first, the master makes an utterance such as "Yahoo!" As the reaction operation, "Yah-ho" is uttered. The master raises the right hand (right front leg) and utters a "scale note (scale command)" in response to the utterance of "yahoo" of the receiver, and the receiver responds to such master's In response to the action of raising the right hand (right front leg) and the "scale note (scale command)", the utterance of the "scale note" is recognized, and the body is rotated right.

Note that the receiver can notify the master of the end of such an operation by using a scale tone. For example, the master can manage the time so that the master detects the end of the operation of the receiver. it can. That is, for example, the master holds the execution time of the clockwise rotation operation of the receiver, thereby measuring the elapsed time since raising the right hand (or after uttering the scale sound) and holding the right time. By comparing the execution time of the rotation operation, the master knows the end of the clockwise rotation operation actually performed by the receiver.

After detecting the end of the clockwise movement of the receiver in this way, the master performs the operation of raising the left hand (left front leg) and utters a "scale note (scale command)". On the other hand, in response to the operation of raising the left hand (left front leg) of such a master and the "scale note (scale command)", the receiver recognizes the utterance of "scale note" and turns the body to the left. Perform the action of And
As described above, the master measures, for example, the elapsed time after raising the left hand (or after emitting the scale sound), and comparing the measured elapsed time with the held execution time of the left rotation operation. It knows the end of the counterclockwise rotation operation actually performed by the receiver.

Further, after detecting the end of the counterclockwise movement of the receiver in this manner, the master raises both hands (both front legs) and utters a "scale note (scale command)". On the other hand, in response to the operation of raising both hands (both front legs) of the master and the "scale sound (scale command)", the receiver recognizes the utterance of the "scale sound" and moves forward.

As described above, the exchange is performed when the master issues a command and the receiver operates according to the command.

As described above with reference to FIGS. 12 to 14, the robot device can realize various conversations with the other robot device.

In the above-described embodiment, a case has been described in which communication between the robot devices is performed by using scale sounds. However, the present invention is not limited to this. For example, information can be transmitted and received between robot devices by infrared rays.

Further, in the above-described embodiment, the case where the dialogue by the operation between the robot devices is mainly performed by the voice output operation (or the utterance operation) has been described. However, the present invention is not limited to this, and it is also possible to interact by operating a movable part such as a leg. In this case, the robot device recognizes the movement of the other party by image recognition means such as the CCD camera 20. When it is relatively difficult to recognize the motion of the robot device, by outputting a scale sound or the like corresponding to the motion,
The meaning of such a motion action can be recognized by the scale sound, and the dialogue between the robot devices can be reliably realized.

If the robot device autonomously generates a sentence and emits a word, even if the understanding of such a sentence is complicated, as described above, the content information is simultaneously transmitted to the chromatic note. As a result, the partner robot apparatus can ensure a reaction corresponding to such a complicated sentence.

[0144]

As described in detail above, the robot apparatus according to the present invention is a mobile robot apparatus having an operation unit, wherein the operation detecting means for detecting information included in the operation output by another robot apparatus; An operation unit control unit that controls the operation unit based on information detected by the operation detection unit; and a reaction number measurement unit that counts the number of reactions of another robot device based on the operation output by the operation unit. The operating unit control means can output an operation by the operating unit according to the number of times of reaction of the other robot device. Accordingly, the robot device can operate in response to the operation of another robot device.

Further, the robot apparatus according to the present invention has an operation detecting means for detecting information included in an operation output from another robot apparatus, and an operation output means for outputting an operation corresponding to the information detected by the operation detecting means. By having
The information included in the operation output by the other robot device can be detected by the operation detection unit, and the operation corresponding to the information detected by the operation detection unit can be output by the operation output unit. Accordingly, the robot device can operate in response to the operation of another robot device.

An operation control method for a robot apparatus according to the present invention is a method for controlling an operation of a mobile robot apparatus having an operation section, wherein an operation detecting step for detecting information included in an operation output by another robot apparatus. And an operation part control step of controlling the operation part based on the information detected in the operation detection step, and a reaction number measurement for measuring the number of reactions of another robot device based on the operation output by the operation part In the operating part control step, the operation is output by the operating part in accordance with the number of times the other robot apparatus has reacted, whereby the robot apparatus reacts to the operation of the other robot apparatus. Can work.

Further, the operation control method for a robot device according to the present invention includes an operation detecting step for detecting information included in an operation output from another robot device, and an operation corresponding to the information detected in the operation detecting step. With the operation output step of causing one robot device to output, one robot device can operate in response to the operation of another robot device.

Further, the operation control system for a robot device according to the present invention includes an operation detecting means for detecting information included in an operation output from the other robot device, and an operation corresponding to the information detected by the operation detecting means. A plurality of robot devices each including an operation output unit that performs the operation, the robot device detects information included in the operation output by the other robot device by the operation detection unit, and performs an operation corresponding to the information detected by the operation detection unit. Can be output by the operation output means. Accordingly, in the operation control system of the robot device, the robot device can operate in response to the operation of the partner robot device.

Further, in the operation control method for a robot apparatus according to the present invention, the operation output step of outputting a predetermined operation when one robot apparatus enters a predetermined state; A reaction operation output step of outputting an operation corresponding to the predetermined operation output by the one robot device, whereby the robot device can operate in response to the operation of the other robot device .

[Brief description of the drawings]

FIG. 1 is a perspective view illustrating an external configuration of a robot device according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a circuit configuration of the robot device described above.

FIG. 3 is a block diagram illustrating a software configuration of the robot device described above.

FIG. 4 is a block diagram illustrating a configuration of a middleware layer in a software configuration of the robot device described above.

FIG. 5 is a block diagram showing a configuration of an application layer in the software configuration of the robot device described above.

FIG. 6 is a block diagram showing a configuration of the behavior model library of the application layer.

FIG. 7 is a diagram used to explain a finite probability automaton that is information for determining an action of the robot apparatus.

FIG. 8 is a diagram showing a state transition table prepared for each node of the finite probability automaton.

FIG. 9 is a diagram used to describe a robot device that enables a dialogue with robot devices having different interactive functions.

FIG. 10 is a diagram illustrating a configuration example of a musical scale command database provided in the robot apparatus.

FIG. 11 is a diagram used to explain a robot device that has a dialogue with the same dialogue function.

FIG. 12 is a diagram showing an exchange of dialogue when both the master and the recipient robot apparatuses are happy.

FIG. 13 is a diagram illustrating an exchange when the master robot apparatus is angry and the receiver robot apparatus is angry.

FIG. 14 is a diagram showing exchange of dialogues when a master robot device issues a command and a receiving robot device operates in response to the command.

FIG. 15 is a diagram used to explain a conventional robot device that changes pronunciation according to emotion.

FIG. 16 is a diagram used to explain a conventional robot device whose operation is controlled by a scale command or the like.

[Explanation of symbols]

1 robot device, 10 CPU, 14 signal processing circuit, 24 speakers

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification code FI Theme coat ゛ (Reference) A63H 30/02 A63H 30/02 C B25J 5/00 B25J 5/00 C G10L 13/00 G10L 3/00 Q F term (reference) 2C150 CA02 DA05 DC28 DF04 DF08 DF33 DG01 DG13 DJ04 DK10 ED42 ED56 EE02 EE07 EF16 EF23 EF30 EF34 FA03 3C007 AS36 CS08 KS13 KT01 MT14 WA04 WA14 WB20 WB25 5D045 AB11

Claims (40)

[Claims] 1. A mobile robot device having an operation unit, wherein: an operation detection unit for detecting information included in an operation output by another robot device; and the operation unit based on the information detected by the operation detection unit. Operating part control means for controlling; and reaction number measuring means for measuring the number of reactions of another robot device based on the operation output by the operation part. A robot device, wherein an operation is output by the operation unit according to the number of times. 2. The robot apparatus according to claim 1, wherein the information is emotion information of the other robot apparatus. 3. An operation detecting means for detecting information included in an operation output by another robot device, and an operation output means for outputting an operation corresponding to the information detected by the operation detecting means. Robot device. 4. The robot apparatus according to claim 3, wherein the information is semantic information of the operation. 5. The robot apparatus according to claim 3, wherein the output operation is an output operation of a sound signal. 6. The robot apparatus according to claim 3, wherein an emotion is changed based on an external environment and / or an internal state, and the robot apparatus performs an autonomous operation based on the emotion. 7. The another robot apparatus changes an emotion based on an external environment and / or an internal state, and expresses and outputs its own emotion in the operation. 4. The robot apparatus according to claim 3, wherein an emotion expressed in the motion is detected as the information. 8. The robot apparatus according to claim 3, further comprising communication means for transmitting and receiving information to and from the other robot apparatus. 9. The robot apparatus according to claim 8, wherein the communication means transmits semantic information of the operation in response to the operation output by the operation output means. 10. The method according to claim 1, wherein the semantic information that can be detected by the other robot device is stored as a database, and the semantic information is transmitted by the communication unit in correspondence with the operation output by the operation output unit. The robot device according to claim 9, wherein: 11. The communication means receives, by the communication means, semantic information of the operation transmitted by the other robot apparatus in response to the operation output by the other robot apparatus. The robot apparatus according to claim 8, wherein the semantic information received by the is detected as information included in the operation. 12. The semantic information transmitted by the other robot device is stored as a database, and the operation detecting means selects the semantic content from the signal received by the communication means based on the database, The robot apparatus according to claim 11, wherein the selected semantic information is detected as information included in the operation. 13. The robot apparatus according to claim 8, wherein said communication means performs communication using scale sounds. 14. The robot apparatus according to claim 8, wherein said communication means performs communication by an infrared signal. 15. The robot apparatus according to claim 3, wherein said operation output means outputs a predetermined operation when a predetermined state is reached. 16. The apparatus according to claim 1, wherein the emotion is changed based on an external environment and / or an internal state, and the operation output means displays the emotion in the operation when the predetermined emotion level is reached. 16. The robot apparatus according to claim 15, wherein the robot apparatus outputs the output. 17. The robot device according to claim 15, wherein the predetermined operation is output when the presence of the other robot device is detected as the predetermined state. 18. The robot apparatus according to claim 3, wherein the operation detecting means detects information included in an operation output when the other robot apparatus enters a predetermined state. 19. The motion output means according to the information detected by the motion detection means, modulates and outputs a preceding motion that has caused the other robot device to perform a motion. The robot device according to claim 3. 20. The robot apparatus according to claim 19, wherein the preceding operation is an operation of outputting a scale sound, and the operation output means modulates and outputs the scale sound. 21. An operation control method for a mobile robot device having an operation unit, comprising: an operation detection step of detecting information included in an operation output by another robot apparatus; and information detected in the operation detection step. An operation part control step of controlling the operation part based on the operation part, and a reaction number measurement step of measuring the number of times of reaction of another robot device based on the operation output by the operation part, wherein the operation part control step An operation control method for a robot device, wherein an operation is output by the operation unit according to the number of times of reaction of the other robot device. 22. The method according to claim 21, wherein the information is emotion information of the other robot device. 23. An operation detecting step of detecting information included in an operation output by another robot apparatus, and an operation output step of outputting an operation corresponding to the information detected in the operation detecting step to one robot apparatus. An operation control method for a robot apparatus, comprising: 24. The method according to claim 23, wherein the information is semantic information of the operation. 25. The operation control method for a robot device according to claim 23, wherein the output operation is an output operation of a sound signal. 26. The method according to claim 23, further comprising a transmitting step of transmitting semantic information of the operation corresponding to the operation output in the operation output step. 27. A receiving step of receiving the semantic information of the operation transmitted by the other robot apparatus in response to the operation output by the other robot apparatus. 24. The operation control method for a robot device according to claim 23, wherein the semantic information received in step (a) is detected as information included in the operation. 28. An operation control system for a plurality of robotic devices, which shows an operation corresponding to an operation of a partner robotic device, comprising: an operation detecting means for detecting information included in the operation output by the partner robotic device; An operation control system for a robot device, comprising: a plurality of robot devices each including an operation output unit that outputs an operation corresponding to the information detected by the operation detection unit. 29. The operation control system according to claim 28, wherein the information is semantic information of the operation. 30. The operation output means outputs a predetermined operation when the robot enters a predetermined state, and executes a predetermined operation when one robot apparatus enters a predetermined state. 29. The operation control system for a robot device according to claim 28, wherein the output is performed by an output unit, and another robot device outputs an operation corresponding to the predetermined operation output by the one robot device. 31. The method according to claim 31, wherein the robot device is provided in an external environment and / or
Or, the emotion is changed based on the internal state, and the operation output means, when the predetermined emotion level is set to the predetermined state, expresses the emotion in an operation and outputs the motion. 31. The operation control system for a robot device according to claim 30, wherein 32. The operation control system for a robot device according to claim 30, wherein when the presence of another robot device is detected as the predetermined state, the predetermined operation is output. 33. The operation control system according to claim 28, wherein the operation is a sound signal output operation. 34. The motion output means according to the information detected by the motion detection means, modulates and outputs a preceding motion that caused the other robot device to perform a motion. An operation control system for a robot device according to claim 28. 35. The robot apparatus further comprises communication means for transmitting / receiving information to / from a partner robot apparatus, wherein one robot apparatus responds to the operation output from the operation output means by the communication means. Then, the semantic information of the operation is transmitted, and the other robot device receives the semantic information by the communication unit, and detects the semantic information as information included in the operation by the operation detecting unit. 29. The operation control system for a robot device according to claim 28, wherein: 36. The operation control system for a robot device according to claim 35, wherein said communication means performs communication by using scale sounds. 37. The operation control system for a robot device according to claim 35, wherein said communication means performs communication by an infrared signal. 38. A method of controlling the operation of a robot apparatus in accordance with the operation of a partner robot apparatus, the method comprising the steps of: performing a predetermined operation when one robot apparatus enters a predetermined state; An operation output step of outputting a motion corresponding to the predetermined operation output by the one robot apparatus. Method. 39. The method according to claim 38, wherein the information is semantic information of the operation. 40. The one robot apparatus changes an emotion based on an external environment and / or an internal state, and the one robot apparatus reaches a predetermined emotion level in the predetermined state. 39. The operation control method for a robot device according to claim 38, wherein at that time, the emotion is expressed as an operation and output.