JP2004130428A - Robot device, action control method for robot device, recording medium and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot device capable of improving interactiveness reflecting an external input on an action of an user's taste. <P>SOLUTION: An input from outside is detected by an external input detection part 31, and the number n of interpolation frames between a start key frame and an end key frame is decided by a part 101 for deciding the number of interpolation frames in accordance with the external input. A variation per frame is calculated based on the number n of interpolation frames and a difference between the two key frames in a joint value, and supplied to a joint angle calculating part 104 by a variation calculation part 103. A joint angle value of the current frame is calculated based on the variation per frame and supplied to and action control part 64 by the joint angle calculating port 104. A corresponding actuator Ai is operated by the action control part 64 in accordance with the joint angle value of the current frame. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot apparatus, and more particularly to a robot apparatus that executes a desired motion by interpolating between a specified start key frame and an end key frame using an interpolation frame, a robot apparatus operation control method, a recording medium, and a program. About.
[0002]
[Prior art]
A mechanical device that performs a motion resembling a human motion using an electric or magnetic action is called a “robot”. It is said that the robot is derived from the Slavic word "ROBOTA (slave machine)". In Japan, robots began to spread from the late 1960's, but most of them were industrial robots (industrial robots) such as manipulators and transfer robots for the purpose of automation and unmanned production work in factories. Met.
[0003]
Recently, pet-type robots that mimic the body mechanism and behavior of four-legged animals such as dogs, cats, and bears, or the body mechanism and behavior of bipedal animals such as humans and monkeys that walk upright. Research and development on the structure of a legged mobile robot such as the "humanoid" or "humanoid" robot and stable walking control thereof have been progressing, and expectations for its practical use have been increasing. These legged mobile robots are unstable compared to crawler type robots, making posture control and walking control difficult.However, they are excellent in that they can realize flexible walking and running operations such as climbing stairs and climbing over obstacles. I have.
[0004]
A stationary robot, such as an arm-type robot, which is implanted and used in a specific place, operates only in a fixed and local work space such as assembling and sorting parts. On the other hand, the mobile robot has a work space that is not limited, and can move freely on a predetermined route or on a non-route to perform a predetermined or arbitrary human work, or perform a human or dog operation. Alternatively, various services that replace other living things can be provided.
[0005]
One of the uses of the legged mobile robot is to perform various difficult tasks in industrial activities and production activities. For example, maintenance work in nuclear power plants, thermal power plants, petrochemical plants, parts transfer and assembly work in manufacturing plants, cleaning in high-rise buildings, rescue work in fire spots and other dangerous and difficult work, etc. .
[0006]
Another application of the legged mobile robot is not the work support described above, but a life-based type, that is, a “symbiosis” with humans or “entertainment”. This type of robot faithfully reproduces the movement mechanism of a relatively intelligent legged moving animal such as a human, dog (pet), or bear and rich emotional expression using limbs. In addition to not only faithfully executing a motion pattern input in advance, but also dynamically responding to words and attitudes (such as "praise", "scratch", and "slap") received from a user (or another robot). It is also required to realize a corresponding and lively response expression.
[0007]
In the conventional toy machine, the relationship between the user operation and the response characteristic is fixed, and the operation of the toy cannot be changed according to the user's preference. As a result, the user eventually gets tired of the non-repeating toy that performs the same operation.
[0008]
In contrast, recent entertainment robots and the like can play back an action (ACTION) edited by a user and act according to the user's preference (for example, see Patent Document 1). A series of actions are created and completed using, for example, a motion editor activated by a personal computer or the like, for example, a motion or an operation (motion, motion) that is configured together with lighting of an LED and sound. In addition to the completed motion, the data related to the action including the edited voice and the edited LED lighting operation is stored in the memory card. This memory card is mounted on the entertainment robot. Then, the entertainment robot performs a user's favorite action using the motion data or the like stored in the memory card.
[0009]
[Patent Document 1]
JP-A-11-58274
[0010]
[Problems to be solved by the invention]
By the way, when a motion is created by activating the motion editor by the CPU so far, a key frame corresponding to the first pose and a key frame corresponding to the last pose are fixedly provided. Because the number of interpolation frames was set, the motion was the same speed in any case.
[0011]
For example, when creating a motion of sitting and raising one of the front legs, the number of interpolation frames between key frames is fixed beforehand, so that under any environment, for example, even if the user approaches or moves away The motion was performed at the same speed.
[0012]
Therefore, conventionally, a user's favorite action can be performed, but an external input caused by the user or other causes is not reflected in the action, and an interaction (interaction) is performed. Then it was not enough.
[0013]
The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide a robot device capable of reflecting an external input to a user's favorite behavior and improving the interaction.
[0014]
It is another object of the present invention to provide a behavior control method for a robot device that can enhance the interaction of the robot device by reflecting an external input to a user's favorite behavior.
It is another object of the present invention to provide a recording medium on which a program capable of causing a robot apparatus to execute an action with enhanced interaction by reflecting an external input to a user's favorite action is recorded.
[0015]
It is another object of the present invention to provide a program that allows an external input to be reflected in a user's favorite action and causes the robot apparatus to execute an action with enhanced interaction.
[0016]
[Means for Solving the Problems]
The robot apparatus according to the present invention is a robot apparatus that performs a desired motion by interpolating between a specified start key frame and an end key frame by an interpolation frame in order to solve the above-described problem. External input detection means for detecting an external input, and interpolation frame number determination means for determining the number of interpolation frames between the key frames in accordance with the external input detected by the external input detection means, the interpolation frame An actuator for moving the joint is operated while calculating a current joint angle value of the joint to be subjected to the desired motion based on the number of interpolation frames determined by the number determining means.
[0017]
Therefore, the robot apparatus according to the present invention operates the actuator of the joint to be a target of a desired motion based on the number of interpolation frames determined by the number of interpolation frames determined in response to the external input detected by the external input detection means. Let it.
[0018]
In addition, the robot apparatus according to the present invention is an actuator that moves the joint while calculating a current joint angle value of the joint to be the target of the desired motion based on the number of interpolation frames determined by the interpolation frame number determination unit. A change amount calculating means for calculating a change amount for each frame from a difference between the number of interpolation frames determined by the interpolation frame number determining means and a joint value between the two key frames; Means for calculating the joint angle value of the current frame from the amount of change for each frame calculated by the means; and operating the corresponding actuator in accordance with the joint angle value of the current frame calculated by the joint angle calculation means. Operation control means for performing the operation.
[0019]
For this reason, in the robot apparatus according to the present invention, the interpolation frame number determination means determines the number of interpolation frames between the start key frame and the end key frame according to the external input detected by the external input detection means, and the change amount calculation means Calculates the amount of change for each frame from the difference between the number of interpolated frames and the joint value between the two key frames, and the joint angle calculation means calculates the joint angle value of the current frame from the amount of change for each frame, and performs motion control. Means actuate the actuator according to the joint angle value of the current frame.
[0020]
In order to solve the above-mentioned problem, the operation control method of the robot apparatus according to the present invention interpolates between a designated start key frame and an end key frame by an interpolation frame to execute a desired motion. An operation control method for a robot device, comprising: an external input detecting step of detecting an external input; and an interpolating frame for determining the number of interpolated frames between the key frames according to the external input detected by the external input detecting step. A number determination step, a change amount calculation step of calculating a change amount for each frame from a difference between the number of interpolation frames determined by the interpolation frame number determination step and a joint value between the two key frames, and the change amount calculation A joint angle calculating step of calculating a joint angle value of a current frame from a change amount for each frame calculated in the step, and the joint angle calculating step Therefore comprising an operation control step of operating the appropriate actuator I in accordance with the calculated current joint angle values of the frame.
[0021]
For this reason, the operation control method of the robot apparatus according to the present invention, in the interpolation frame number determination step according to the external input detected in the external input detection step determines the number of interpolation frames between the start key frame and the end key frame, The change amount calculation step calculates the change amount for each frame from the difference between the number of interpolation frames and the joint value between the two key frames, and the joint angle calculation step calculates the joint angle value of the current frame from the change amount for each frame. Then, the operation control step operates the actuator according to the joint angle value of the current frame.
[0022]
Further, in order to solve the above problem, the recording medium according to the present invention interpolates between a specified start key frame and an end key frame by an interpolation frame, and causes the robot apparatus to execute a desired motion. A recording medium recording the operation control program, wherein the operation control program comprises: an external input detection step of detecting an external input; and the key according to an external input detected by the external input detection step. An interpolated frame number determining step of determining an interpolated frame number between frames, and calculating a change amount for each frame from a difference between the interpolated frame number determined in the interpolated frame number determining step and a joint value between the two key frames. Calculating the joint angle value of the current frame from the change amount for each frame calculated in the change amount calculating step. A joint angle calculation step, and an operation control step of operating a corresponding actuator according to the joint angle value of the current frame calculated in the joint angle calculation step. I have.
[0023]
According to an embodiment of the present invention, there is provided a program for interpolating between a specified start key frame and an end key frame using an interpolation frame, and controlling the robot apparatus to execute a desired motion. An external input detection step of detecting an external input, and an interpolation frame number determination step of determining the number of interpolation frames between the key frames according to the external input detected by the external input detection step, A change amount calculation step of calculating a change amount for each frame from the difference between the number of interpolation frames determined in the interpolation frame number determination step and the joint value between the two key frames; and a change amount calculation step. A joint angle calculating step of calculating a joint angle value of the current frame from the amount of change for each frame, and the joint angle calculating step. Operating the appropriate actuator I in accordance with the calculated current joint angle values of the frame formed by a motion control step.
[0024]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. This embodiment is an entertainment robot apparatus that moves and moves four legs, a neck, and the like driven by a servo motor supplied with power from a battery.
[0025]
FIG. 1 shows an external configuration of an entertainment robot device (hereinafter, referred to as a robot) 1. As shown in FIG. 1, the robot 1 has a four-legged shape, for example, a lion shape, and leg units 3A, 3B, 3C, and 3D are connected to the front, rear, left, and right of the body unit 2, respectively. At the same time, 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.
[0026]
The tail unit 5 is drawn out from a base provided on the upper surface of the body unit 2 so as to bend or swing freely with two degrees of freedom.
[0027]
In the robot 1 having such an external configuration, for example, servomotors provided at the positions of the joints of the leg units 3A to 3D are driven to move each joint by a predetermined angle and move the front leg up and down. The user performs an operation such as moving forward while raising and lowering the rear leg. In addition, a servo motor provided at each joint of the head unit 4 and the tail unit 5 is moved by a predetermined angle to perform an operation of shaking the head and waving the tail.
[0028]
The robot 1 can judge an internal situation and an external situation, and can control an action autonomously. At this time, the robot 1 can perform an action set in advance, and can also perform an action added later by editing by the user. When performing the action edited by the user, the robot 1 performs a characteristic operation based on the present invention.
[0029]
The editing of the action by the user, particularly the editing of the motion, is performed by interpolating between the start key frame and the end key frame specified by the user with the interpolation frame. The robot 1 variably determines the number n of interpolation frames based on an external input. Then, based on the determined number n of the interpolation frames and the two key frames, the amount of change in each joint value by driving the servo motor is calculated for each frame, and the joint angle value of the current frame is calculated. The actuator including the servomotor is operated according to the joint angle value. At this time, each frame including the interpolation frame from the start key frame to the end key frame is reproduced at, for example, 16 msec. Of course, the motion corresponding to each frame is also performed at, for example, 16 msec.
[0030]
As shown functionally in FIG. 2, the robot 1 detects an external input by the external input detecting unit 31, and calculates the number of interpolation frames n between the start key frame and the end key frame according to the external input. The number is determined by the interpolation frame number determination unit 101. The number-of-interpolated-frames determining unit 101 determines the number n of supplementary frames based on, for example, the distance from the input-detected user based on the input detection value-number of supplementary frames stored in the memory 102 as a table. This is supplied to the calculation unit 103. The change amount calculation unit 103 calculates a change amount for each frame from the difference between the number of interpolation frames n and the joint angle value between the two key frames, and supplies the calculated change amount to the joint angle calculation unit 104. The joint angle calculation unit 104 calculates a joint angle value of the current frame from the change amount for each frame, and supplies the calculated joint angle value to the operation control unit 64. The operation control unit 64 operates the corresponding actuator Ai according to the joint angle value of the current frame.
[0031]
Here, an operation in a case where the external input detection unit 31 is a position detection unit that detects a distance to an object based on a signal supplied from a position detection sensor that is, for example, a distance sensor (Position Sensing Device: PSD). A brief description will be given. For example, when the distance-interpolation frame number characteristic stored in the memory 102 is such that the number n of interpolation frames increases linearly as the distance increases, as shown in FIG. ₁ The case where the number of interpolated frames becomes linearly smaller becomes true. For example, as the user moves his hand closer to the robot 1, the interpolation frame number determination unit 101 sets the interpolation frame number n to a smaller value (n ₁ ). In addition, the distance is long (L ₂ ) Indeed (L ₁ <L ₂ ), The number of interpolation frames n is set to a large value (n ₂ ) And (n) ₁ <N ₂ ).
[0032]
Now, when the distance is short (L ₁ ), The number-of-interpolated-frames determination unit 101 refers to the table in the memory 102 to determine the number n of interpolated frames by n. ₁ Is determined. Then, the change amount calculation unit 103 outputs the start key frame F specified in advance. _s And the end key frame F _e Between the joint values of the corresponding actuators between θ and the number of interpolation frames n ₁ From the change amount Δθ for each frame ₁ = Θ / n ₁ +1 is calculated and supplied to the joint angle calculation unit 104. The joint angle calculation unit 104 calculates the change amount Δθ for each frame. ₁ From the joint angle value θp of the current frame ₁ Is calculated and supplied to the operation control unit 64. The operation control unit 64 calculates the joint angle value θp of the current frame. ₁ Actuator A corresponding to _i To work.
[0033]
On the other hand, when the distance is long (L ₂ ), The number-of-interpolated-frames determination unit 101 refers to the table in the memory 102 to determine the number n of interpolated frames by n. ₂ Is determined. Then, the change amount calculation unit 103 outputs the start key frame F specified in advance. _s And the end key frame F _e Between the joint values of the corresponding actuators between θ and the number of interpolation frames n ₂ From the change amount Δθ for each frame ₂ = Θ / n ₂ +1 is calculated and supplied to the joint angle calculation unit 104. The joint angle calculation unit 104 calculates the change amount Δθ for each frame. ₂ From the joint angle value θp of the current frame ₂ Is calculated and supplied to the operation control unit 64. The operation control unit 64 calculates the joint angle value θp of the current frame. ₂ Actuator A corresponding to _i To work.
[0034]
Where n ₂ > N ₁ Therefore, θ / n ₂ <Θ / n ₁ Since one frame is reproduced at 16 msec, the distance L is short. ₁ Is longer L ₂ Start key frame F _s To end frame F _e Playback time is shortened.
[0035]
Next, the internal configuration of the robot 1 will be described with reference to the block diagram of FIG. The body unit 2 stores a controller 10 for controlling the entire robot 1, a battery 11 serving as a power source of the robot 1, an internal sensor 14 including a battery sensor 12 and a heat sensor 13, and the like. The controller 10 basically includes a CPU (Central Processing Unit) 10A and a memory 10B in which a basic control program for the CPU 10A to control each unit is provided. The memory 10B stores an editing operation control program which is a specific example of the operation control method of the robot apparatus of the present invention. Although the editing operation control program will be described in detail later, the editing operation control program is a program that can eventually constitute the functional blocks shown in FIG. 2, and determines the number n of interpolation frames between the start key frame and the end key frame. Calculating the change amount of each joint value by driving the servo motor for each frame based on the determined number n of the interpolation frames and the two key frames, while calculating the joint angle value of the current frame. And a program for operating an actuator including the servomotor according to the joint angle value.
[0036]
Further, the controller 10 is also provided with an I / F 10C for the memory card 10D. The memory card 10D stores the start key frame, the end key frame, and motion data such as the joint angle value of each actuator at the time of the key frame.
[0037]
As shown in FIG. 3, the head unit 4 includes a microphone 15 corresponding to an “ear” for sensing sound, a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide) as a sensor for sensing an external stimulus. A camera 16 corresponding to an “eye” that senses light, and a touch sensor 17 corresponding to a tactile sense that senses pressure or the like caused by touching by a user. I have. Further, the head unit 4 is provided with a position detection sensor 18 which is a PSD for measuring a distance to an object, and a speaker 19 corresponding to a “mouth” of the robot 1 at predetermined positions.
[0038]
Joint portions of the leg units 3A to 3D, connection portions of the leg units 3A to 3D and the body unit 2, connection portions of the head unit 4 and the body unit 2, and tail units 5 and the body portion An actuator is installed at a connection portion of the unit 2 or the like. The actuator operates each unit based on an instruction from the controller 10.
[0039]
In the example of FIG. 3, the leg unit 3A includes an actuator 3AA. ₁ To 3AA _k Are provided, and the leg unit 3B includes an actuator 3BA. ₁ Or 3BA _k Is provided. The leg unit 3C includes an actuator 3CA. ₁ To 3CA _k Is provided, and the leg unit 3D includes an actuator 3DA ₁ Or 3DA _k Is provided. Further, the head unit 4 includes an actuator 4A ₁ To 4A _L Are provided, and the tail unit 5 is provided with an actuator 5A.
[0040]
Hereinafter, the actuator 3AA provided in the leg units 3A to 3D ₁ Or 3DA _k , Actuator 4A provided in head unit 4 ₁ To 4A _L When it is not necessary to distinguish each of the actuators 5A provided in the tail unit 5 from each other, the actuators 3AA ₁ To 5A.
[0041]
Further, in the leg units 3A to 3D, switches 3AB to 3DB are installed at locations corresponding to the soles of the robot 1 in addition to the actuators. When the robot 1 walks, the switches 3AB to 3DB are depressed, and a signal representing the depression is input to the controller 10.
[0042]
The microphone 15 installed in the head unit 4 collects surrounding sounds (sounds) including utterances from the user, and outputs the obtained sound signals to the controller 10. The camera 16 captures an image of the surroundings, and outputs an obtained image signal to the controller 10. The touch sensor 17 is provided, for example, on the upper part of the head unit 4 and detects a pressure received by a physical action such as “stroke” or “hit” from the user, and uses the detection result as a pressure detection signal. Output to the controller 10. The position detection sensor 18 emits, for example, infrared light and outputs a detection result about the timing of receiving the reflected light to the controller 10.
[0043]
The controller 10 controls the surrounding conditions, commands from the user, and the user based on audio signals, image signals, pressure detection signals, distance signals, and the like provided from the microphone 15, the camera 16, the touch sensor 17, and the position detection sensor 18. The robot 1 determines the next action to be taken by the robot 1 based on the determination result. Then, based on the determination, the controller 10 drives necessary actuators, thereby swinging the head unit 4 up and down, left and right, moving the tail unit 5, and moving each of the leg units 3A to 3D. To cause the robot 1 to walk, sit down, raise one of the legs while sitting, or take a so-called by-by action such as swinging the front leg.
[0044]
Further, the controller 10 detects, for example, the distance to the user or the distance to the hand of the user based on the signal given from the position detection sensor 18, and determines the number of interpolation frames n based on the detection result. Based on the number n of the interpolated frames and the two key frames, the amount of change in each joint value by driving the servo motor for each frame is calculated, and the joint angle value of the current frame is calculated. The actuator including the servomotor is operated according to the angle value.
[0045]
In addition, the controller 10 performs processing such as turning on, off, or blinking an LED (not shown) provided at the position of the “eye” of the robot 1.
[0046]
FIG. 4 is a block diagram illustrating a basic functional configuration example of the controller 10 of FIG. Note that the functions shown in FIG. 4 are realized by the CPU 10A executing a basic control program stored in the memory 10B. The editing operation control program, which is a specific example of the present invention, which is started in connection with the basic control program, is also executed by the CPU 10A and functions as a part of the behavior management unit 62 shown in FIG. A block is configured.
[0047]
The controller 10 basically includes a sensor input processing unit 31 that detects an external input and the like, and an information processing unit 32 that operates the robot 1 based on information and the like detected by the sensor input processing unit 31. ing.
[0048]
Then, the angle detection unit 41 configuring the sensor input processing unit 31 includes the actuator 3AA ₁ When the motor provided for each of the first through fifth motors is driven, the angle is detected based on the notified information. The angle information detected by the angle detection unit 41 is output to the behavior management unit 62 of the information processing unit 32 and the sound data generation unit 66.
[0049]
The volume detector 42 detects the volume based on the signal given from the microphone 15 and outputs the detected volume information to the behavior manager 62 and the sound data generator 66.
[0050]
The voice recognition unit 43 performs voice recognition on a voice signal given from the microphone 15. Then, the voice recognition unit 43 uses the instinct / emotion management unit 61 and the behavior management, as voice recognition information, for example, commands such as “walk”, “down”, “follow the ball” and the like as voice recognition results. Notifying unit 62 and sound data generation unit 66.
[0051]
The image recognition section 44 performs image recognition using an image signal provided from the camera 16. Then, as a result of the processing, the image recognizing unit 44 obtains, for example, a “red round object”, a “plane that is perpendicular to the ground and has a height equal to or higher than a predetermined height”, and a “skin color”. Is detected, image recognition results such as “there is a ball”, “there is a wall”, “there is a human (user)” are used as image recognition information, and the instinct / emotion management unit 61, the behavior management unit 62, and The sound data generation unit 66 is notified.
[0052]
The pressure detector 45 processes a pressure detection signal provided from the touch sensor 17. Then, as a result of the processing, when detecting a pressure that is equal to or more than a predetermined threshold value and for a short time, the pressure detection unit 45 recognizes that “hit” has been detected, and if the pressure is less than the predetermined threshold value, When a long-term pressure is detected, it is recognized as “stroke (praised)”, and the recognition result is used as state recognition information as an instinct / emotion management unit 61, a behavior management unit 62, and a sound. The data generation unit 66 is notified.
[0053]
The position detection unit 46 measures a distance to a predetermined target based on a signal supplied from the position detection sensor 18 and notifies the behavior management unit 62 and the sound data generation unit 66 of the distance information. For example, when a hand is put in front of the eyes, the position detection unit 46 detects the distance to the hand, the distance to the user or the ball recognized by the image recognition unit 44, and the like.
[0054]
The switch input detection unit 47 detects an input from the switches 3AB to 3DB provided in a portion corresponding to the sole of the robot 1 and, for example, a timing at which the robot 1 walks while walking. Also, the instinct and emotion management unit 61 and the behavior management unit 62 are notified that the sole of the foot is touched by the user.
[0055]
On the other hand, an instinct and emotion management unit 61 constituting the information processing unit 32 manages the instinct and emotion of the robot 1 and, at a predetermined timing, a parameter indicating the instinct of the robot 1 and a parameter indicating emotion are stored in the behavior management unit. 62 and a sound data generation unit 66.
[0056]
FIG. 5 is a diagram schematically illustrating an example of the function of the instinct / emotional management unit 61 in FIG. 4. As shown in FIG. 5, the instinct / emotional management unit 61 includes an emotion model expressing the emotion of the robot 1. 81 and an instinct model 82 expressing instinct are stored and managed.
[0057]
The emotion model 81 sets the emotion state (degree) such as “joy”, “sadness”, “anger”, “surprise”, “fear”, and “disgust” in a predetermined range (for example, 0 to 100), and their values are changed based on outputs from the voice recognition unit 43, the image recognition unit 44, and the pressure detection unit 45, the passage of time, and the like.
[0058]
In this example, the emotion model 81 includes an emotion unit 81A representing “joy”, an emotion unit 81B representing “sadness”, an emotion unit 81C representing “anger”, an emotion unit 81D representing “surprise”, and a “fear”. ”And an emotion unit 81F representing“ disgust ”.
[0059]
The instinct model 82 expresses the state (degree) of desire by instinct such as “appetite”, “sleep desire”, and “exercise desire” with a predetermined range of instinct parameters, respectively, and includes a voice recognition unit 43 and an image recognition unit. The value is changed based on the output from the pressure detection unit 44, the pressure detection unit 45, and the like, the passage of time, and the like. Further, the instinct model 82 increases a parameter indicating “appetite” based on the action history, or increases a parameter indicating “appetite” based on the remaining battery level.
[0060]
In this example, the instinct model 82 includes an instinct unit 82A representing “exercise desire”, an instinct unit 82B representing “appetite”, an instinct unit 82C representing “appetite”, an instinct unit 82D representing “curiosity”, and It is composed of an instinct unit 82E representing “sleep desire”.
[0061]
The instinct / emotional management unit 61 expresses the emotions of the robot 1 and the state of the instinct by changing the parameters of the emotion units 81A to 81F and the instinct units 82A to 82E, and models the change.
[0062]
Further, the parameters of the emotion units 81A to 81F and the instinct units 82A to 82E are changed not only by input from the outside but also by mutual influence of the units as shown by arrows in the figure.
[0063]
For example, when the emotion unit 81A expressing “joy” and the emotion unit 81B expressing “sadness” are connected in a mutually suppressive manner, the instinct / emotion management unit 61 sets “ The emotion to be expressed is changed by increasing the parameter of the emotion unit 81A expressing "sadness" and decreasing the parameter of the emotion unit 81B expressing "sadness".
[0064]
Further, not only the units constituting the emotion model 81 and the units constituting the instinct model 82 but also the parameters of each unit are changed over both models.
[0065]
For example, as shown in the figure, “sadness” of the emotion model 81 is expressed according to a change in the parameters of the instinct unit 82B representing “affection and desire” of the instinct model 82 and the instinct unit 82C representing “appetite”. The parameters of the emotion unit 81B and the emotion unit 81C expressing "anger" are changed.
[0066]
Specifically, when the parameter of the instinct unit 82C representing “appetite” increases, the parameter of the emotion unit 81B expressing “sadness” of the emotion model 81 and the parameter of the emotion unit 81C expressing “anger” increase. Become.
[0067]
The parameters of the emotion or the parameters of the instinct managed by the instinct / emotion management unit 61 in this manner are measured at a predetermined cycle, for example, as described later, and are transmitted to the behavior management unit 62 and the sound data generation unit 66. Is output.
[0068]
More specifically, in addition to the emotion model 81 and the instinct model 82, a growth model is prepared in the instinct and emotion management unit 61, and the parameters of each unit of the emotion model 81 and the instinct model 82 change depending on the growth stage. Is done. In this growth model, for example, the state of growth (degree) such as “childhood”, “adolescence”, “mature”, “elderly”, etc. is represented by a value in a predetermined range, and the speech recognition unit 43, The value is changed based on the output from the image recognition unit 44 and the pressure detection unit 45, the passage of time, and the like.
[0069]
The instinct / emotion management unit 61 is supplied with recognition information from the voice recognition unit 43, the image recognition unit 44, the pressure detection unit 45, and the like. , Specifically, for example, behavior information indicating the content of the behavior such as “walking for a long time” is supplied. Then, even when the same recognition information or the like is given, the instinct / emotion management unit 61 generates different internal information according to the behavior of the robot 1 indicated by the behavior information.
[0070]
For example, when the robot 1 greets the user and is stroked by the user, the behavior information that the robot 1 greets the user and the recognition information that the head is stroked are supplied to the instinct / emotion management unit 61. You. At this time, in the instinct / emotion management unit 61, the value of the emotion unit 81A representing “joy” is increased.
[0071]
Returning to the description of FIG. 4, the behavior management unit 62 stores the information supplied from the voice recognition unit 43 and the image recognition unit 44, the parameters supplied from the instinct / emotional management unit 61, the time lapse, and the like. The next action is determined based on the determined action, and a command for instructing execution of the determined action is output to the posture transition management unit 63. In addition, when causing the robot 1 to speak or to output a sound corresponding to a predetermined operation from the speaker 19, the behavior management unit 62 outputs a command to output a sound to the voice synthesis unit 65.
[0072]
The behavior management unit 62 receives the distance to the user and the distance to the hand of the user supplied from the position detection unit 46 in the interpolation frame number determination unit 101 shown in FIG. Determine the number n. A change amount is calculated by the change amount calculation unit 103 based on the number of interpolation frames n, and a joint angle of the corresponding actuator is further calculated by the joint angle calculation unit 104.
[0073]
FIG. 6 is a schematic diagram illustrating a functional configuration example of the behavior management unit 62 in FIG. The behavior management unit 62 includes a behavior model library 91 and a behavior selection unit 92. The behavior model library 91, as shown in FIG. have.
[0074]
In the example shown in the figure, the behavior model library 91 includes a ball-corresponding behavior model 91A indicating an action to be taken when a ball is detected, an autonomous search behavior model 91B indicating an action to be taken when a ball is lost, and the above-described emotion model An emotion expression behavior model 91C indicating an action to be taken when a change of 81 is detected is prepared. Also, an obstacle avoidance behavior model 91D indicating an action to be taken when an obstacle is detected, a fall return behavior model 91E indicating an action to be taken when a fall is detected, and an action to be taken when the remaining battery power is low. Is prepared.
[0075]
Further, an edit motion corresponding behavior model 91G corresponding to the motion added later by the editing of the user is prepared. The functions corresponding to the edit motion corresponding behavior model 91G are the respective functional block diagrams shown in FIG. That is, the editing operation control program, which is a specific example of the operation control method of the robot apparatus of the present invention, relates to an edit motion-compatible behavior model in the behavior management unit 62. The editing operation control program may be related to the autonomous search behavior model 91B or may be a part thereof.
[0076]
Then, the action selecting unit 92 compares the information supplied from the voice recognition unit 43, the image recognition unit 44, the pressure detection unit 45, the position detection unit 46, and the like, and the instinct and emotion supplied from the instinct and emotion management unit 61. The next action to be taken by the robot 1 is selected from the action models prepared in the action model library 91 by referring to the parameters, the elapsed time, and the like.
[0077]
In addition, the action selection unit 92 determines, from the node representing the current state of the robot 1, a transition to a node representing which state based on the transition probability set for the arc connecting the nodes. Select using a finite probability automaton. The selection using this finite probability automaton will be described later.
[0078]
In the following, the number of interpolated frames between the start key frame and the end key frame is variably determined by an external input, and the corresponding actuator is moved according to each of those frames, so that the desired operation of the user can be performed in an interactive manner. The details of the operation of the robot 1 that executes the process by increasing the value will be described.
[0079]
First, FIG. 7 shows a procedure of an external input process. Heretofore, as a specific example of the external input detection, a position detection unit 46 that detects a position from a signal from the position detection sensor 18 which is a PSD for measuring a distance to a target object is given. Distance has been used as an external input.
[0080]
In addition to this, as an external input, the sound picked up by the microphone 15 due to, for example, clapping by the user may be detected by the volume detection unit 42, and the time interval of the pattern of the sound may be detected as a rhythm. The number n of interpolation frames is determined based on the speed of the rhythm, and the joint number n determined by driving the servo motor based on the determined number n of interpolation frames and the two key frames is determined for each frame. The actuator including the servomotor may be operated according to the joint angle value while calculating the change amount and calculating the joint angle value of the current frame.
[0081]
For example, if the number of interpolation frames n is linearly or non-linearly increased as the rhythm is slower, and the number of interpolation frames n is linearly or non-linearly decreased as the rhythm is faster, the editing operation of the robot 1 is changed according to the speed of the rhythm. In addition, an operation with enhanced interaction can be performed.
[0082]
Alternatively, the blinking interval of the light detected by the camera 16 and recognized by the image recognizing unit 44 may be taken as an external input, and the number n of interpolation frames may be determined according to the blinking time interval. Further, using the tail unit 5 as an analog stick, the user changes the speed to the left or right or up and down to operate the switch 5B variably, and detects the switching speed of the switch via the switch input detection unit 47, The number n of interpolation frames may be determined according to the switching speed.
[0083]
For example, if the number n of interpolation frames is increased linearly or non-linearly as the switching speed is slow, and the number n of interpolation frames is linearly or non-linearly decreased as the switching speed is fast, the robot 1 can variably execute an editing operation according to the switching speed. That is, an operation of increasing the interaction can be performed.
[0084]
The type of each of these external inputs may be selectively switched by a switch newly provided in the robot 1, or may be selectively switched by voice recognition through the microphone 15 and the voice recognition unit 43. . The type of the external input selectively switched is determined by the controller 10.
[0085]
Variables are created in advance according to the processing procedure shown in FIG. 7 and stored in the memory 102 according to the type of external input. First, the type of external input is determined by the controller 10 in step S1, and the distance, rhythm, and switching speed are converted into variable speed parameters, and are stored in the memory 102 as variables for each input type.
[0086]
The controller 10 sequentially retrieves the editing operation control program stored in the memory 10B into the RAM serving as a work area, and executes the editing operation control program, while storing the motion data stored in the memory card 10D in the memory 102. Calculations are performed using the variables that are used.
[0087]
First, as shown in FIG. 8, when a command is received in step S11, the controller 10 decodes the command and causes the action selecting unit 92 to select an action in the action model library of the action management unit 62.
[0088]
In step S12, it is checked whether the current frame is a start or end key frame. If it is determined that the frame is a key frame (YES), the process proceeds to step S13.
[0089]
In step S13, as a result of interpreting the command, it is determined whether or not the action indicated by the command permits external variable reproduction. For example, in an operation such as a walking operation that requires complicated control of the center of gravity, balance between the four legs, and the like, the variable reproduction is not suitable. Here, if the external variable reproduction is possible (YES), the action management unit 62 selects the edit motion-compatible action model 91G by the action selection unit 92. Then, the process proceeds to step S14.
[0090]
In step S14, the type of the external input selected by the user is determined. After that, in step S15, the corresponding variable is obtained from the variable stored in the processing of FIG. 7, and the number n of the interpolation frames is changed according to the detected input using the obtained variable.
[0091]
Next, in step S16, the amount of change for each frame is calculated from the difference between the number of interpolation frames n and the joint value of the start key frame and the end key frame already set by the user.
[0092]
In step S17, the joint angle value of the current frame is calculated from the calculated change amount, set to the corresponding actuator, and the robot is operated. Then, the current frame is advanced by one in step S18, and the process from step S12 is repeated until it is determined in step S19 that there is no next frame and that the frame is the last frame.
[0093]
When it is determined in step S12 that the current frame is not the two key frames (NO), the process proceeds to step S17, and the joint angle value of the current frame is calculated using the amount of change calculated in the previous step S16. Calculate, set and operate the robot.
[0094]
If it is determined in step S13 that the command does not permit external variable reproduction, steps S14 and S15 are skipped, and in step S16, a predetermined amount of change for each unique frame is calculated. .
[0095]
FIG. 9 shows, for example, a distance-interpolation frame number characteristic. The variables are the basis for the function values of this property. Here, it is a variable that the number of interpolation frames n increases linearly as the distance increases, and the number of interpolation frames decreases linearly as the distance decreases. For example, as the user moves his hand closer to the robot 1, the interpolation frame number determination unit 101 sets the interpolation frame number n to a smaller value (n ₁ ). In addition, the distance is long (L ₂ ) Indeed (L ₁ <L ₂ ), The number of interpolation frames n is set to a large value (n ₂ ) And (n) ₁ <N ₂ ).
[0096]
Hereinafter, referring to FIGS. 10 to 12, the start key frame F when the number of interpolation frames n is 1, 2, and 5 will be described. _s To end key frame F _e The change in the reproduction time (execution time) up to this point will be described. In practice, the number n of interpolation frames between the two key frames is several tens to several hundreds of frames. Here, the description is simplified.
[0097]
Now, with the robot 1 sitting, a motion for raising the right front leg is edited. Assume that the joint key J1 of the right front leg 3A on the body unit 2 side has a start key frame of 0 ° and an end key frame of 90 °. The elbow joint J2 of the right front leg 3A has a start key frame of 0 ° and an end key frame of 30 °.
[0098]
For example, it is assumed that when the position detection unit 46 detects that the user's hand is at a distance of 20 cm, the controller 10 determines the number n of interpolation frames to be 1 in step S15 of the processing procedure illustrated in FIG. This interpolated frame is transformed into Fi as shown in FIG. ₁ And Each frame including the interpolation frame from the start key frame to the end key frame is executed at, for example, 16 msec.
[0099]
Then, in step S16 in FIG. 8, the number n of interpolation frames is 1, and the difference between the joint values of the two key frames is 90 ° (= θJ) at J1. ₁ ), 30 ° at J2 (= θJ ₂ ), The change amount ΔθJ between J1 and J2 for each frame. ₁ And ΔθJ ₂ To
ΔθJ ₁ = ΘJ ₁ / 2 = 45 °
ΔθJ ₂ = ΘJ ₂ / 2 = 15 °.
[0100]
Then, in step S17, the joint angle value of the current frame is calculated. Since the start key frames J1 and J2 were both 0 °, the interpolation frame Fi ₁ J1 and J2 at the time of are 0 + ΔθJ ₁ = 45 °, 0 + ΔθJ ₂ = 15 °. The robot 1 is operated by setting these nodal angle values in the actuator.
[0101]
Next, in step S18, the current frame is advanced by one, and in step S19, it is determined that there is a next frame. Therefore, the processing from step S12 is repeated. And the next frame is the end key frame F _e Therefore, the process proceeds to step S17, and the calculated change amount ΔθJ ₁ And ΔθJ ₂ , And set the joint angle value of the current frame to J1 = 45 ° + ΔθJ. ₁ = 90 °, J2 = 15 ° + ΔθJ ₂ = 30, and the robot is operated by setting the corresponding actuator.
[0102]
At this time, as described above, since each frame is executed at, for example, 16 msec, the start key frame F _s To end key frame F _e Up to the number of supplementary frames n,
16msec × (n + 1)
Can be expressed as
If the number of interpolation frames n = 1, it takes 16 × 2 = 32 msec.
[0103]
It is assumed that when the position detection unit 46 detects that the user's hand is at a distance of 30 cm, the controller 10 determines the number n of interpolation frames to be 2 in step S15 of the processing procedure illustrated in FIG.
[0104]
This interpolated frame is represented by Fi as shown in FIG. ₁ , Fi ₂ And Here, each frame including the interpolation frame from the start key frame to the end key frame is executed at, for example, 16 msec.
[0105]
Then, in step S16 of FIG. 8, the number n of interpolation frames is 2, and the difference between the joint values of the two key frames is 90 ° (= θJ) at J1. ₁ ), 30 ° at J2 (= θJ ₂ ), The change amount ΔθJ between J1 and J2 for each frame. ₁ And ΔθJ ₂ To
ΔθJ ₁ = ΘJ ₁ / 3 = 30 °
ΔθJ ₂ = ΘJ ₂ / 3 = 10 °.
[0106]
Then, in step S17, the joint angle value of the current frame is calculated. Since the start key frames J1 and J2 were both 0 °, the interpolation frame Fi ₁ J1 and J2 at the time of are 0 + ΔθJ ₁ = 30 °, 0 + ΔθJ ₂ = 10 °. The robot 1 is operated by setting these nodal angle values in the actuator.
[0107]
Next, in step S18, the current frame is advanced by one, and in step S19, it is determined that there is a next frame. Therefore, the processing from step S12 is repeated. And the next frame is the interpolation frame Fi ₂ Therefore, the process proceeds to step S17 to calculate the change amount ΔθJ calculated last time. ₁ And ΔθJ ₂ Is used to calculate the joint angle value of the current frame as J1 = 30 ° + ΔθJ ₁ = 60 °, J2 = 10 ° + ΔθJ ₂ = 20 °, and set the corresponding actuator to operate the robot 1.
[0108]
Next, the current frame is advanced by one in step S18, and it is determined in step S19 that there is a next frame. Therefore, the processing from step S12 is repeated. And the next frame is the end key frame F _e Therefore, the process proceeds to step S17, and the calculated change amount ΔθJ ₁ And ΔθJ ₂ Is used to calculate the joint angle value of the current frame as J1 = 60 ° + ΔθJ. ₁ = 90 °, J2 = 20 ° + ΔθJ ₂ = 30 °, and set the corresponding actuator to operate the robot 1.
[0109]
At this time, as described above, since each frame is executed at, for example, 16 msec, the start key frame F _s To end key frame F _e Up to the number of supplementary frames n,
16msec × (n + 1)
Can be expressed as
If the number of interpolation frames n = 2, it takes 16 × 3 = 48 msec.
[0110]
It is also assumed that when the position detection unit 46 detects that the user's hand is at a distance of 100 cm, the controller 10 determines the number n of interpolation frames to be 5 in step S15 of the processing procedure shown in FIG.
[0111]
This interpolated frame is represented by Fi as shown in FIG. ₁ , Fi ₂ , Fi ₃ , Fi ₄ , Fi ₅ And Here, each frame including the interpolation frame from the start key frame to the end key frame is executed at, for example, 16 msec.
[0112]
Then, in step S16 in FIG. 8, the number n of interpolation frames is 5, and the difference between the joint values of the two key frames is 90 ° (= θJ) at J1. ₁ ), 30 ° at J2 (= θJ ₂ ), The change amount ΔθJ between J1 and J2 for each frame. ₁ And ΔθJ ₂ To
ΔθJ ₁ = ΘJ ₁ / 6 = 15 °
ΔθJ ₂ = ΘJ ₂ / 6 = 5 °.
[0113]
Then, in step S17, the joint angle value of the current frame is calculated. Since the start key frames J1 and J2 were both 0 °, the interpolation frame Fi ₁ J1 and J2 at the time of are 0 + ΔθJ ₁ = 15 °, 0 + ΔθJ ₂ = 5 °. The robot 1 is operated by setting these nodal angle values in the actuator.
[0114]
Next, in step S18, the current frame is advanced by one, and in step S19, it is determined that there is a next frame. Therefore, the processing from step S12 is repeated. And the next frame is the interpolation frame Fi ₂ Therefore, the process proceeds to step S17 to calculate the change amount ΔθJ calculated last time. ₁ And ΔθJ ₂ , And set the joint angle value of the current frame to J1 = 15 ° + ΔθJ. ₁ = 30 °, J2 = 5 ° + ΔθJ ₂ = 10 °, and the robot is operated by setting the corresponding actuator.
[0115]
Next, the current frame is advanced by one in step S18, and it is determined in step S19 that there is a next frame. Therefore, the processing from step S12 is repeated. And the next frame is the interpolation frame Fi ₃ Therefore, the process proceeds to step S17 to calculate the change amount ΔθJ calculated last time. ₁ And ΔθJ ₂ Is used to calculate the joint angle value of the current frame as J1 = 30 ° + ΔθJ ₁ = 45 °, J2 = 10 ° + ΔθJ ₂ = 15 °, and set the corresponding actuator to operate the robot 1.
[0116]
In step S18, the current frame is advanced one by one, and the current frame is interpolated frame Fi. ₄ , Fi ₅ , Each J1 is 60 ° and 75 °, and each J2 is 20 ° and 25 °. And finally, the end key frame F _e In this case, J1 is 90 ° and J2 is 30 °.
[0117]
At this time, as described above, each frame is executed at, for example, 16 msec. Therefore, if the number of interpolation frames n = 5, it takes 16 × 6 = 96 msec.
[0118]
As described above, the above operation is actually performed over several tens to several hundred frames. For example, when the number of interpolation frames n is 99, it takes 16 × 100 = 1.6 sec.
[0119]
In this manner, the robot 1 determines the number n of interpolation frames to be smaller as the distance between the robot 1 and the user's hand becomes shorter. _s To end frame F _e Can be made shorter than when the distance is long. As a result, the shorter the distance from the user, the faster the robot 1 can move. Therefore, the robot 1 can reflect the external input on the user's favorite behavior and enhance the interaction.
[0120]
In the above-described operation example, the variable that is the basis of the distance-interpolated frame number characteristic is set so that the number of interpolated frames increases linearly as the distance increases, as shown in FIG. 7, but as shown in FIG. It may be non-linear. Further, as shown in FIG. 14, the number of interpolation frames may linearly decrease as the distance increases. In the former case, as the distance increases, the change in the number n of the interpolated frames decreases, and the difference in the operation speed disappears. In the latter case, the operation is slower as the distance is shorter, and the operation is faster as the distance is longer.
[0121]
Next, selection of a node transition using a finite probability automaton will be described with reference to FIGS.
[0122]
In the finite probability automaton shown in FIG. 15, for example, the current state is node 0 (NODE ₀ ), The probability P ₁ And node 1 (NODE ₁ ) And the probability P ₂ And node 2 (NODE ₂ ) And the probability P _n And node n (NODE _n ). The finite probability automaton has a probability P _n-1 At node 0 (NODE ₀ ), That is, no transition to any node.
[0123]
Each behavior model defined in the behavior model library 91 is composed of nodes representing a plurality of states, and each node has a state transition table in which the probability of transition to another node is set. Have been.
[0124]
FIG. 16 is a diagram illustrating an example of a state transition table of a node 100 (NODE 100) belonging to a predetermined behavior model, defined in the behavior model library 91.
[0125]
In FIG. 16, an input event as a condition for transition to another node (or its own node) is described in the column of “input event name”. Further conditions are described in the columns of “data name” and “data range”.
In the example of the figure, the information in which the ID “1” is set is notified to the action management unit 62 of information relating to “ball detected” (input event name “BALL”), and When the size is in the range of “0 to 1000”, it indicates that transition from the node 100 to the node 120 is made with a probability of “30%”.
[0126]
Further, the information to which the ID “2” is set is “40%” when the action management unit 62 is notified of information relating to “the head was tapped lightly” (input event name “PAT”). A transition from the node 100 to the node 150 is indicated with a probability.
[0127]
The information to which the ID “3” is set is “20%” when the action management unit 62 is notified of the information regarding “the head was hit hard” (input event name “HIT”). A transition from the node 100 to the node 150 is indicated with a probability.
[0128]
Further, the information to which the ID “4” is set is notified to the action management unit 62 of information relating to “execute a motion edited by the user” (input event name “E MOTION”), and When it is notified that the distance to the user's hand is in the range of “0 to 20”, it indicates that the node 100 transitions to the node 1600 with a probability of “100%”.
[0129]
In the information to which the ID “5” is set, information relating to “detected an obstacle” (input event name “OBSTACLE”) is notified to the behavior management unit 62, and the distance to the obstacle is “0”. When it is notified that the value is in the range from "100" to "100", it indicates that transition from the node 100 to the node 1000 has a probability of "100%".
[0130]
Further, in this example, even if there is no input from the voice recognition unit 43, the image recognition unit 44, or the like, transition to another node is made according to the parameters of the emotion model 81 and the instinct model 82. I have.
[0131]
For example, when the parameter of the emotion unit 81A representing “joy (JOY)” of the emotion model 81 is in the range of “50 to 100”, the information to which the ID “6” is set has a probability of “5%”. Indicates that a transition is made to the node 120, and a transition is made to the node 150 with a probability of “30%”.
[0132]
The information to which the ID “7” is set indicates that the node 1000 has a probability of “15%” when the parameter of the emotion unit 81D representing “Surprise” of the emotion model 81 is in the range of “50 to 100”. The information in which the ID “8” is set indicates that the parameter of the emotion unit 81B representing “sadness (SUDNESS)” of the emotion model 81 is in the range of “50 to 100”. The transition to the node 120 is shown with a probability of “50%”.
[0133]
In the state transition table of FIG. 16, an action output at the time of transition to each node is described in the column of “output action”. For example, when the state transitions to the node 120, the action is output there. The action is “ACTION1”, the action output at the time of transition to the node 150 is “ACTION2”, and the action output at the time of transition to the node 1000 is “MOVE BACK” (retreat). Have been.
[0134]
Further, when the transition has been made to the node 1600, the action output there is “ACTION4”. This may be, for example, an operation of sitting and raising the right front leg when the number of interpolation frames is n, as described above. In the action of "ACTION4", the motion speed is determined by the number n of interpolation frames determined according to the distance-interpolation frame number characteristic. That is, after the transition to the node 1600, the motion speed is further changed according to the determined number n of interpolation frames. This is because, in the present invention, for example, the speed of the edit motion is changed by changing the number n of interpolation frames according to the distance to the user or the hand of the user.
[0135]
Further, for example, the information in which the ID “9” is set is set to the input event name “E MOTION2”. For example, when the clapping rhythm is detected, the node 100 transitions from the node 100 to the node 1200 with a probability of “100%”. do it. In the action “ACTION3” of the node 1200, the motion of shaking the head in accordance with the rhythm of clapping is performed by changing the operation speed while changing the number of interpolation frames n.
[0136]
The action selecting unit 92 changes the state by referring to such a state transition table, and transmits information indicating an action set to the node to the instinct / emotion management unit 61, the posture transition management unit 63, and the The data is output to the voice synthesizer 65.
[0137]
For example, when the action specified for the transitioned node is “raise the right front leg with the number of interpolation frames n after sitting”, the action selection unit 92 sends a command to instruct the command via the posture transition management unit 63. And outputs it to the control unit 64.
[0138]
Returning to the description of FIG. 4, the posture transition management unit 63 generates posture transition information for transitioning the posture of the robot 1 from the current posture to the next posture based on the command supplied from the behavior management unit 62. Are sent to the control unit 64. The control unit 64 fulfills the function of the operation control unit 64 shown in FIG.
[0139]
Here, the posture that can be changed next from the current posture is, for example, the physical shape of the robot 1 such as the shape and weight of the body, hands and feet, the connection state of each part, and the directions and angles at which the joints bend. It is determined by the mechanism of the actuators 3AA1 to 5A.
[0140]
The posture includes a posture that can directly transition from the current posture and a posture that cannot directly transition. For example, the four-legged robot 1 can directly transition from a state in which the limbs are thrown out and lying down to a prone state, but cannot directly transition to a standing state. It is necessary to perform a two-stage operation of pulling close to the prone position and then standing up. There are also postures that cannot be safely executed. For example, the robot 1 easily falls down when trying to banzai with both front legs raised from a standing posture with four legs.
[0141]
For this reason, the posture transition management unit 63 pre-registers a posture to which a direct transition is possible, and controls the posture transition information when a command supplied from the behavior management unit 62 indicates a posture to which a direct transition is possible. To the section 64.
[0142]
On the other hand, when the posture transition information indicates a posture that cannot be directly transited, the posture transition management unit 63 temporarily changes the posture to another transmissible posture, and then transmits posture transition information that causes a transition to a target posture. Generate it and send it to the control unit 64. Thus, it is possible to avoid a situation where the robot 1 forcibly executes an untransitionable posture or a situation where the robot 1 falls down.
[0143]
The control unit 64 drives the actuators 3AA1 to 5A provided in each unit based on the posture transition information supplied from the posture transition management unit 63, and controls the operation of the robot 1.
[0144]
Next, a motion editing system will be described with reference to FIGS. When the start key frame and the end key frame are designated by the user in advance, not only the two key frames but also the joint angles of the actuators at the two key frames are set. The motion data in these edits is written to the memory card 111 by the personal computer 110 shown in FIG. The memory card 111 is inserted into a slot provided in, for example, the body unit 2 of the robot 1, and is connected to the memory card I / F 10C.
[0145]
The personal computer 110 is configured as shown in FIG. 18, and stores a program for motion editing in the ROM 115 or the HDD 120. After activating the OS stored in the HDD 120, the CPU 112 takes out the motion editing program from the ROM 115 or the HDD 120 via the bus 113, and sequentially executes the motion editing program while using the DRAM 114 as a work area. By executing the motion editing program, an image as shown in FIGS. 19 to 23 described later is displayed on the display 117 controlled by the display controller 116 so that the user can edit the motion using the image. Has become. Of course, the editing is performed using the operation unit 122 such as a keyboard, a mouse, and a pointing device connected to the I / O interface 121. The memory card 111 is connected to the CPU 112 via the memory card I / F 118, and the motion data such as the two key frames specified by the user's editing operation using the operation unit 122 is used for the control. Therefore, it is stored. Note that the motion data may be transmitted to the robot 1 through a wireless LAN via a communication I / F 119.
[0146]
Editing the motion is part of editing the action. Therefore, the action editor is activated as shown in FIG. After creation of an action is selected, if creation of a motion is selected from “Material” in FIG. 20, the user is prompted to input an action name ACTION Name and a File Name.
[0147]
Thereafter, an action window shown in FIG. 21 is activated. In the action window, a current time / frame display 201, a total time / frame display, a current bar 203, a key frame channel 204, and the like are displayed. In the key frame channel 204, a start key frame and an end key frame as shown in FIG. 22, for example, are stored in advance and selected and displayed by a user from a sample file, and settings are made. Whether the number n of the interpolation frames between the two key frames is set manually or not set here and is changed according to the detection of the external input as described above is selected by the user in the dialog shown in FIG. Is done.
[0148]
If “set” is selected in the dialog shown in FIG. 23, a process for setting an interpolation frame is guided by a dialog or the like, and the user sets a fixed number of interpolation frames. Become.
[0149]
If “not set here” is selected, the motion editing process is terminated and the motion data is stored in the memory card 111. When the memory card 111 is mounted on the robot 1 as shown in FIG. 17, the memory card 111 is connected to the memory card I / F 10C. When the editing operation control program is executed by the CPU 10A, the motion data is read out from the memory card 111 (same as the memory card 10D in FIG. 3), and the variables stored in the memory 102 are read out. Is used to determine the number n of interpolation frames (step S15 in FIG. 8). Thereafter, by performing the processing of step S16 and subsequent steps in FIG. 8, the determined number of interpolation frames n and the joint value of each joint by driving the servo motor based on the two key frames are calculated for each frame. While calculating the amount of change and calculating the joint angle value of the current frame, the actuator including the servomotor is operated according to the joint angle value.
[0150]
Therefore, based on the start frame and the end frame set by the motion editing system and the difference between their joint values, the robot 1 reflects the external input on the user's favorite action, and enhances the interaction. Can work while.
[0151]
【The invention's effect】
Since the robot apparatus according to the present invention operates the actuator of the joint to be the target of the desired motion based on the number of interpolation frames determined by the number of interpolation frames determining means according to the external input detected by the external input detecting means, The external input can be reflected in the user's favorite behavior to enhance the interaction.
[0152]
In the operation control method of the robot apparatus according to the present invention, the interpolation frame number determination step determines the number of interpolation frames between the start key frame and the end key frame according to the external input detected in the external input detection step, and calculates a change amount. The process calculates the amount of change for each frame from the difference between the number of interpolated frames and the joint value between the two key frames, and the joint angle calculation process calculates the joint angle value of the current frame from the amount of change for each frame. Since the control process operates the actuator of the robot device according to the joint angle value of the current frame, the interaction of the robot device can be enhanced by reflecting the external input to the behavior of the robot device according to the user's preference. .
[0153]
Since the recording medium according to the present invention stores the operation control program of the robot device, it is possible to reflect the external input of the robot device on the behavior of the robot device according to the user's preference, thereby improving the interaction property of the robot device. Can be.
[0154]
The program according to the present invention can enhance the interaction of the robot device by reflecting the external input of the robot device in the behavior of the robot device according to the user's preference.
[Brief description of the drawings]
FIG. 1 is an external perspective view of an entertainment robot device according to an embodiment of the present invention.
FIG. 2 is a functional block diagram of the robot device.
FIG. 3 is an internal configuration diagram of the robot device.
FIG. 4 is a functional configuration diagram of a controller.
FIG. 5 is a diagram schematically illustrating a functional example of an instinct / emotional management unit.
FIG. 6 is a diagram schematically illustrating a function example of an action management unit;
FIG. 7 is a flowchart illustrating a procedure of an external input process.
FIG. 8 is a flowchart illustrating a procedure of a motion reproduction process.
FIG. 9 is a characteristic diagram showing a specific example of a distance-interpolation frame number characteristic.
FIG. 10 is a diagram illustrating a reproduction example when the number of interpolation frames n = 1.
FIG. 11 is a diagram illustrating a reproduction example when the number of interpolation frames n = 2.
FIG. 12 is a diagram illustrating a reproduction example when the number of interpolation frames n = 5.
FIG. 13 is a characteristic diagram showing another specific example of the distance-interpolation frame number characteristic.
FIG. 14 is a characteristic diagram showing another specific example of the distance-interpolation frame number characteristic.
FIG. 15 is a diagram illustrating an example of a finite state automaton.
FIG. 16 is a diagram illustrating an example of a state transition probability.
FIG. 17 is a diagram for explaining a motion editing system.
FIG. 18 is a block diagram illustrating an internal configuration of a personal computer.
FIG. 19 is a diagram illustrating a screen display example when an action editor is activated.
FIG. 20 is a diagram showing a screen display example showing a state of selecting motion creation.
FIG. 21 is a diagram illustrating a screen display example showing an action window.
FIG. 22 is a diagram showing a key frame selected by a user and displayed on a key frame channel.
FIG. 23 is a diagram showing a dialog display example for allowing the user to select whether the number of interpolation frames n is set manually or automatically.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Entertainment system robot apparatus, 10 controller, 10B memory, 10D memory card, 18 position detection sensor, 31 external input detection section, 46 position detection section, 62 action management section, 64 operation control section, 101 interpolation frame number determination section, 103 Change amount calculation unit, 104 Joint angle calculation unit

Claims (9)

A robot device that executes a desired motion by interpolating between a specified start key frame and an end key frame by an interpolation frame,
External input detection means for detecting external input,
Interpolation frame number determination means for determining the number of interpolation frames between the key frames according to the external input detected by the external input detection means,
A robot apparatus that operates an actuator that moves the joint while calculating a current joint angle value of the joint to be subjected to the desired motion based on the number of interpolation frames determined by the interpolation frame number determination unit. . 2. The robot apparatus according to claim 1, wherein the external input detecting means detects a distance from a predetermined object existing outside. 2. The robot apparatus according to claim 1, wherein the frame number determination unit acquires a corresponding variable according to an input type by the external input detection unit, and changes the number of interpolation frames according to the acquired variable. Change amount calculating means for calculating a change amount for each frame from the difference between the number of interpolation frames determined by the interpolation frame number determining means and the joint value between the two key frames; and a frame calculated by the change amount calculating means. Joint angle calculating means for calculating the joint angle value of the current frame from the amount of change for each, and operation control means for operating the corresponding actuator according to the joint angle value of the current frame calculated by the joint angle calculating means. The robot device according to claim 1, further comprising: An operation control method of a robot device for executing a desired motion by interpolating between a specified start key frame and an end key frame by an interpolation frame,
An external input detection step of detecting an external input,
An interpolation frame number determining step of determining the number of interpolation frames between the key frames according to the external input detected by the external input detection step,
A change amount calculation step of calculating a change amount for each frame from a difference between the number of interpolation frames determined in the interpolation frame number determination step and a joint value between the two key frames;
A joint angle calculating step of calculating a joint angle value of the current frame from the change amount for each frame calculated by the change amount calculating step;
An operation control step of operating a corresponding actuator according to the joint angle value of the current frame calculated in the joint angle calculation step. 6. The operation control method for a robot device according to claim 5, wherein the external input detecting step detects a distance to a predetermined target object existing outside. The operation control of the robot apparatus according to claim 5, wherein in the frame number determining step, a variable corresponding to an input type in the external input detecting step is obtained, and the number of interpolation frames is changed by the obtained variable. Method. A recording medium that records an operation control program for causing a robot device to execute a desired motion by interpolating between a specified start key frame and an end key frame by an interpolation frame,
The operation control program includes:
An external input detection step of detecting an external input,
An interpolation frame number determining step of determining the number of interpolation frames between the key frames according to the external input detected by the external input detection step,
A change amount calculation step of calculating a change amount for each frame from a difference between the number of interpolation frames determined in the interpolation frame number determination step and a joint value between the two key frames;
A joint angle calculating step of calculating a joint angle value of the current frame from the change amount for each frame calculated by the change amount calculating step;
An operation control step of operating a corresponding actuator in accordance with the joint angle value of the current frame calculated in the joint angle calculation step, wherein the program is recorded. Medium. A program for operation control that causes the robot apparatus to execute a desired motion by interpolating between a specified start key frame and end key frame by an interpolation frame,
An external input detection step of detecting an external input,
An interpolation frame number determining step of determining the number of interpolation frames between the key frames according to the external input detected by the external input detection step,
A change amount calculation step of calculating a change amount for each frame from a difference between the number of interpolation frames determined in the interpolation frame number determination step and a joint value between the two key frames;
A joint angle calculating step of calculating a joint angle value of the current frame from the change amount for each frame calculated by the change amount calculating step;
An operation control step of operating a corresponding actuator according to the joint angle value of the current frame calculated in the joint angle calculation step.

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