JP2005297095A - Robot apparatus and operation comparison method thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To realize two-way communication between a robot apparatus and another operation subject such as a user through an imitation operation.
A user performs a dance on a robot apparatus (step S1). At this time, the robot apparatus observes the user's dance. The robot apparatus develops an action imitating the observed dance (step S2), and the user evaluates the operation of the robot apparatus 1 at an arbitrary timing (step S3). The robot apparatus creates a new dance by modulating the expressed motion (step S4), and presents this dance to the user (step S5). At this time, the user observes the dance of the robot apparatus. The user expresses an action imitating the observed dance (step S6), and the robot apparatus evaluates the user's action at an arbitrary timing (step S7). The user creates a new dance based on the expressed action (step S8).
[Selection] Figure 4

Description

  The present invention relates to a robot apparatus that realizes bidirectional communication with another operation subject such as a user through a mimicking operation, and an operation comparison method thereof.

  A mechanical device that performs an action similar to that of a human (living body) using an electrical or magnetic action is called a “robot”. Robots have begun to spread in Japan since the late 1960s, but many of them are industrial robots such as manipulators and transfer robots for the purpose of automating and unmanned production work in factories. Met.

  Recently, practical robots that support life as a human partner, that is, support human activities in various situations in daily life such as the living environment, have been developed. Unlike industrial robots, such practical robots have the ability to learn how to adapt themselves to humans with different personalities or to various environments in various aspects of the human living environment. For example, it was designed based on the body mechanism and motion of a “pet-type” robot that imitates the body mechanism and movement of a quadruped animal such as a dog or cat, or a human who walks upright on two legs. Robotic devices such as “humanoid” or “humanoid” robots are already in practical use. Since these robot devices can perform various operations with an emphasis on entertainment performance as compared with industrial robots, they may be referred to as entertainment robots. Some of these robot apparatuses autonomously operate.

  By the way, from the consideration that so-called imitation operations such as mimicry motions are the basics of motion acquisition and communication, in order to realize smooth communication and interaction between the robot device and the user (human), the robot device is connected to the user. Research has begun to give the ability to imitate movement (see Non-Patent Documents 1 to 3).

Christopher Lee, Yangsheng Xu, “Online, Interactive Learning of Gestures for Human / Robot Interfaces”, 1996 IEEE International Conference on Robotics and Automation, Vol.4, p.2982-2987 Gordon Cheng, Akihiko Nagakubo and Yasuo Kuniyoshi, “Continuous Humanoid Interaction: An Integrated Perspective-Gaining Adaptivity, Redundancy, Flexibility-In One Robotics and Autonomous Systems”, Vol.37, No.2-3, p.161-183, November 2001 Tetsuya Inagi, Yuki Tojima, Hitoshi Nakamura, “Acquisition of humanoid behavior based on mimesis and emergence of primitive symbols”, 16th Annual Conference of Japanese Society for Artificial Intelligence (Presentation No. 1D1-02), 2002

  However, the conventional research as described in Non-Patent Documents 1 to 3 described above is limited to “imitation of the motion of the user (human) by the robot apparatus”, and so-called only in one direction. Met. For this reason, it was insufficient from the viewpoint of bidirectional communication between the robot apparatus and the user.

  The present invention has been proposed in view of such a conventional situation, and provides a robot apparatus that realizes bidirectional communication with other operation subjects such as a user through a mimicking operation and an operation comparison method thereof. Objective.

  In order to achieve the above-described object, a robot apparatus according to the present invention is an autonomously operable robot apparatus, and an action expression unit that selects and expresses one action pattern from a plurality of action patterns; An action storage means for storing the action pattern, an image input means for inputting as an image a state in which the other action subject imitates the appearing action pattern, and the other from the image input via the image input means. An action extraction means for extracting an action pattern of the action subject, a comparison means for comparing the action pattern stored in the action storage means with the action pattern extracted by the action extraction means, and according to the comparison result Evaluation means for evaluating the operation pattern of the other operation subject is provided.

  Here, the robot apparatus according to the present invention may further include voice output means for outputting the evaluation result by the evaluation means by voice.

  In addition, the action expression means can express an action pattern imitating the action expressed by the other action subject.

  Furthermore, the robot apparatus according to the present invention may further include voice input means for inputting, by voice, an evaluation result from the other action subject with respect to an action pattern imitating the action expressed by the other action subject. In this case, the action expression means can modulate the action pattern to be expressed according to the evaluation result from the other action subject.

  In order to achieve the above-described object, an operation comparison method for a robot apparatus according to the present invention is an operation comparison method for an autonomously operable robot apparatus, in which one operation pattern is selected from a plurality of operation patterns. An action expression step to be expressed, an action storage step to store the expressed action pattern in the action storage means, an image input step to input a state in which another action subject imitates the expressed action pattern, and A motion extraction step of extracting a motion pattern of the other motion subject from the image input in the image input step; a motion pattern stored in the motion storage means; and a motion pattern extracted in the motion extraction step And an evaluation step for evaluating the operation pattern of the other operation subject according to the comparison result.

  Here, the operation comparison method of the robot apparatus according to the present invention may further include a voice output step of outputting the evaluation result in the evaluation step by voice.

  Moreover, you may further have the imitation process which expresses the operation | movement pattern which imitated the operation | movement which said other operation subject expressed.

  Furthermore, it may further include a voice input step of inputting, by voice, an evaluation result from the other action subject with respect to an action pattern imitating the action expressed by the other action subject. The operation pattern to be expressed can be modulated in accordance with the evaluation result from the other operation subject.

  According to the robot apparatus and the operation comparison method of the present invention, it is possible to compare and evaluate an operation pattern expressed by the robot apparatus itself and an operation pattern imitating the operation pattern of the robot apparatus by another operation subject. . In addition, by performing this interactively with other operating subjects, bidirectional communication can be realized through a mimicking operation, and the values of the robot apparatus can be improved.

  Hereinafter, specific embodiments to which the present invention is applied will be described in detail with reference to the drawings. In this embodiment, the present invention is applied to a bipedal walking type robot apparatus that realizes communication through a bidirectional imitation operation with a user (human). This robot apparatus is a practical robot that supports human activities in various situations in the living environment and other daily lives, and is also an entertainment robot that can express basic actions performed by humans. In the following, first, the configuration of such a robot apparatus will be described, and then a method for realizing a bidirectional imitation operation between the robot apparatus and the user will be described in detail.

(1) Configuration of Robot Device First, the configuration of the robot device in the present embodiment will be described. As shown in FIG. 1, the robot apparatus 1 according to the present embodiment includes a head unit 3 connected to a predetermined position of the trunk unit 2 and two left and right arm units 4R / L and two left and right arms. The leg units 5R / L are connected to each other (provided that R and L are suffixes indicating right and left, respectively, and the same applies hereinafter).

  The joint degree-of-freedom configuration of the robot apparatus 1 is schematically shown in FIG. The neck joint that supports the head unit 3 has three degrees of freedom: a neck joint yaw axis 101, a neck joint pitch axis 102, and a neck joint roll axis 103.

  Each arm unit 4R / L constituting the upper limb includes a shoulder joint pitch axis 107, a shoulder joint roll axis 108, an upper arm yaw axis 109, an elbow joint pitch axis 110, a forearm yaw axis 111, and a wrist. A joint pitch axis 112, a wrist joint roll axis 113, and a hand part 114 are included. The hand portion 114 is actually a multi-joint / multi-degree-of-freedom structure including a plurality of fingers. However, since the operation of the hand 114 has little contribution or influence on the posture control or walking control of the robot apparatus 1, it is assumed in this specification that the degree of freedom is zero. Therefore, each arm unit 4R / L is configured with seven degrees of freedom.

  The trunk unit 2 has three degrees of freedom: a trunk pitch axis 104, a trunk roll axis 105, and a trunk yaw axis 106.

  Each leg unit 5R / L constituting the lower limb includes a hip joint yaw axis 115, a hip joint pitch axis 116, a hip joint roll axis 117, a knee joint pitch axis 118, an ankle joint pitch axis 119, and an ankle joint. A roll shaft 120 and a foot 121 are included. In the present specification, the intersection of the hip joint pitch axis 116 and the hip joint roll axis 117 defines the hip joint position of the robot apparatus 1. Although the foot part of the human body is actually a structure including a multi-joint / multi-degree-of-freedom sole, the foot part 121 of the robot apparatus 1 has zero degrees of freedom. Accordingly, each leg unit 5R / L is configured with six degrees of freedom.

  In summary, the robot apparatus 1 as a whole has a total of 3 + 7 × 2 + 3 + 6 × 2 = 32 degrees of freedom. However, the robot device 1 for entertainment is not necessarily limited to 32 degrees of freedom. Needless to say, the degree of freedom, that is, the number of joints, can be increased or decreased as appropriate in accordance with design / production constraints or required specifications.

  Each degree of freedom of the robot apparatus 1 as described above is actually implemented using an actuator. It is preferable that the actuator be small and light in light of demands such as eliminating the appearance of extra bulges on the appearance and approximating the shape of a human body, and performing posture control on an unstable structure such as biped walking. .

  FIG. 3 schematically shows a control system configuration of the robot apparatus 1. As shown in FIG. 3, the control system is a motion that controls the whole body cooperative motion of the robot apparatus 1 such as driving the actuator 350 and the actuator 350 and the thought control module 200 that dynamically controls emotion judgment and emotional expression in response to user input. And a control module 300.

  The thought control module 200 includes a CPU (Central Processing Unit) 211, a RAM (Random Access Memory) 212, a ROM (Read Only Memory) 213, and an external storage device (hard disk) that execute arithmetic processing related to emotion judgment and emotion expression. A drive or the like) 214 and is an independent drive type information processing apparatus capable of performing self-contained processing in a module.

  The thought control module 200 determines the current emotion and intention of the robot device 1 according to stimuli from the outside such as image data input from the image input device 251 and sound data input from the sound input device 252. Here, the image input device 251 includes, for example, one CCD (Charge Coupled Device) camera on each side, and the audio input device 252 includes, for example, a plurality of microphones. Moreover, the thought control module 200 can output a voice via a voice output device 253 provided with a speaker.

  In addition, the thought control module 200 issues a command to the motion control module 300 to execute an action or action sequence based on decision making, that is, exercise of the limbs.

  One motion control module 300 includes a CPU 311 for controlling the whole body cooperative motion of the robot apparatus 1, a RAM 312, a ROM 313, and an external storage device (hard disk drive, etc.) 314, and performs self-contained processing within the module. It is an independent drive type information processing apparatus that can be performed. The external storage device 314 can store, for example, walking patterns calculated offline, target ZMP trajectories, and other action plans. Here, the ZMP is a point on the floor where the moment due to the floor reaction force during walking is zero, and the ZMP trajectory is, for example, a trajectory in which the ZMP moves during the walking operation period of the robot apparatus 1. Means. Regarding the concept of ZMP and the point where ZMP is applied to the stability criteria for walking robots, “LEGGED LOCOMOTION ROBOTS” written by Miomir Vukobratovic (“Walking Robot and Artificial Feet” written by Ichiro Kato (Nikkan Kogyo Shimbun)) It is described in.

  The motion control module 300 includes an actuator 350 that realizes the degrees of freedom of joints distributed throughout the body of the robot apparatus 1 shown in FIG. 2, a posture sensor 351 that measures the posture and inclination of the trunk unit 2, and left and right soles Various devices such as ground check sensors 352 and 353 for detecting the leaving or landing of the vehicle and a power supply control device 354 for managing the power supply of the battery or the like are connected via a bus interface (I / F) 301. Here, the posture sensor 351 is configured by, for example, a combination of an acceleration sensor and a gyro sensor, and the grounding confirmation sensors 352 and 353 are configured by proximity sensors, micro switches, or the like.

  The thought control module 200 and the motion control module 300 are constructed on a common platform, and are interconnected via bus interfaces 201 and 301.

  The movement control module 300 controls the whole body cooperative movement by each actuator 350 in order to embody the action instructed from the thought control module 200. That is, the CPU 311 extracts an operation pattern corresponding to the action instructed from the thought control module 200 from the external storage device 314 or internally generates an operation pattern. Then, the CPU 311 sets a foot movement, a ZMP trajectory, a trunk movement, an upper limb movement, a waist horizontal position, a height, and the like according to the specified movement pattern, and commands that instruct the movement according to these setting contents. The value is transferred to each actuator 350.

  In addition, the CPU 311 detects the posture and inclination of the trunk unit 2 of the robot apparatus 1 from the output signal of the posture sensor 351, and each leg unit 5R / L is caused to move freely by the output signals of the ground contact confirmation sensors 352 and 353. Alternatively, the whole body cooperative movement of the robot apparatus 1 can be adaptively controlled by detecting whether the robot is standing or standing.

  Further, the CPU 311 controls the posture and operation of the robot apparatus 1 so that the ZMP position is always directed to the center of the ZMP stable region.

  Furthermore, the motion control module 300 returns to the thought control module 200 the level of behavior as intended as determined by the thought control module 200, that is, the processing status.

  In this way, the robot apparatus 1 can determine its own and surrounding conditions based on the control program and act autonomously.

(2) Bidirectional imitation operation between robot device and user Next, a method for realizing the above-described bidirectional imitation operation between the robot device 1 and the user will be described. In the following, it is assumed that the robot apparatus 1 and one user face each other and perform a dance, evaluate each other, and create a new dance.

  The bidirectional mimicking operation between the robot apparatus 1 and the user is performed, for example, in the order shown in the flowchart of FIG. In this flowchart, it is assumed that the dance starts from the user, but the present invention is not limited to this example.

  First, in step S <b> 1, the user performs a rhythmic dance using both arms and both hands, for example, toward the robot apparatus 1. At this time, the robot apparatus 1 observes the user's dance. This dance may be continued until the next loop, or may be stopped at an arbitrary timing. Moreover, you may change the content of a dance suitably.

  Next, in step S2, the robot apparatus 1 continues to express an operation imitating the observed dance, and in the subsequent step S3, the user evaluates the operation of the robot apparatus 1 at an arbitrary timing. Depending on the evaluation result, the robot apparatus 1 returns to step S2 and continues to exhibit an action, or proceeds to step S4. This point will be described later.

  In step S4, the robot apparatus 1 creates a new dance by modulating the expressed motion, and in step S5, shows the dance to the user. At this time, the user observes the dance of the robot apparatus 1. This dance may be continued until the next loop, or may be stopped at an arbitrary timing.

  Subsequently, in step S6, the user continues to express an action imitating the observed dance. In subsequent step S7, the robot apparatus 1 evaluates the user's action at an arbitrary timing. Depending on the evaluation result, the robot apparatus 1 returns to step S5 and continues to express the same action or a different action, or proceeds to step S8. This point will be described later.

  In step S8, the user creates a new dance based on the expressed action, and returns to step S1.

  Hereinafter, each step of the flowchart of FIG. 4 will be described in detail with reference to FIGS. FIG. 5 shows the functional block configuration of the robot apparatus 1 associated with steps S1 to S4 of FIG. 4, that is, when the user performs a dance and the robot apparatus 1 performs an operation imitating it. On the other hand, FIG. 7 shows a functional block configuration of the robot apparatus 1 related to steps S5 to S8 of FIG. 4, that is, when the robot apparatus 1 performs a dance and a user performs an operation imitating it.

  First, in step S1 of FIG. 4, the user performs a rhythmic dance using both arms and both hands, for example, toward the robot apparatus 1, and the robot apparatus 1 observes the dance.

  At this time, in the robot apparatus 1, a dance image is input via the camera image input device 10 in FIG. 5 (corresponding to the image input apparatus 251 in FIG. 3).

  The motion region extractor 11 extracts a motion region from this image, and obtains a rectangle called a block region (BR) surrounding the motion region, as shown in FIG. This is performed using a basic image processing method that is normally used, and follows a procedure of extracting a moving area based on a difference between frames, labeling the moving area, and calculating a minimum rectangle including a label area. Actually, three data of the center point of BR and the length and width are extracted and supplied to the BR locus short-term storage unit 12.

  The BR trajectory short-term storage unit 12 holds the data extracted by the moving region extractor 11 within a certain time in a queue structure.

  The rhythm information extractor 13 calculates rhythm information from the BR center point time series information stored in the BR locus short-term storage unit 12. Here, as shown in FIG. 6B, the BR center point at each time point is projected onto an axis L passing through the image center at an arbitrary angle, and converted into waveform information defined by the axis L and the time axis. Is done. There are various methods for calculating an actual rhythm from this waveform. For example, it is assumed that spectrum information is obtained by performing simple signal processing on the waveform.

  The physicality converter 14 determines the body part of the robot apparatus 1 corresponding to the motion from the longitudinal and lateral length information of the BR stored in the BR locus short-term storage unit 12. Here, the time average is calculated for each of the vertical and horizontal directions, and the programmer sets in advance the body mapping that matches the size (eg, “If the vertical average is m or less and the horizontal average is n or less, use the hand”). The corresponding body part is determined accordingly.

  The motion pattern extractor 15 combines the outputs of the rhythm information extractor 13 and the physicality converter 14 and temporarily holds them as motion patterns.

  Next, in step S <b> 2 of FIG. 4, the robot apparatus 1 continues to express an action imitating the observed dance.

  Specifically, in the robot apparatus 1, the motion pattern held in the motion pattern extractor 15 is supplied to the body controller 16, and the body controller 16 moves the corresponding actuator 17 according to this motion pattern. For example, the actuator 17 is vibrated at an arbitrary angle using the maximum frequency in the spectrum.

  Subsequently, in step S3 of FIG. 4, the user evaluates the operation of the robot apparatus 1 at an arbitrary timing.

  At this time, the user gives a voice instruction to the robot apparatus 1 at an arbitrary timing. The voice instruction is input via the microphone voice input device 20 (corresponding to the voice input device 252 in FIG. 3) of the robot apparatus 1 and is interpreted by the voice recognizer 21. For example, when a voice instruction “OK” is given from the user, a command is sent from the voice recognizer 21 to the action pattern extractor 15, and the action pattern at that time is held in the action memory 18. When the voice instruction “No” is given from the user, a command is sent from the voice recognizer 21 to the action pattern extractor 15 and the action pattern at that time is randomly changed. The changed motion pattern is continuously sent to the body controller 16 for a certain period of time, and during this time, the connection between the motion pattern extractor 15, the rhythm information extractor 13 and the physicality converter 14 is disconnected. When a voice instruction “before timing (after)” is given from the user, a command is sent to the body controller 16 to make the timing for moving the actuator 17 a certain time earlier (slower) than the default value thus far. This is used to adjust the phase timing with the user's action. When the user gives a voice instruction “dancing a new dance”, a command is sent to the new motion pattern generator 19 and the process of step S4 is performed.

  In step S4 of FIG. 4, the robot apparatus 1 creates a new dance by modulating the expressed motion.

  Specifically, the new operation pattern generator 19 generates a new operation pattern using the operation pattern held in the operation memory 18. As a generation method, for example, an arbitrary two past operation patterns are extracted, a spectrum is averaged for each component to obtain a new spectrum, a past one operation pattern is simply selected at random, and the operation is further performed. For example, a method of changing the pattern at random.

  Subsequently, in step S5 of FIG. 4, the robot apparatus 1 shows the generated new dance to the user.

  At this time, the operation pattern selected in step S4 is held in the operation memory 18 of FIG. 7 and is simultaneously supplied to the operation matching unit 22. The body controller 16 moves the corresponding actuator 17 according to this operation pattern.

  Subsequently, in step S6 of FIG. 4, the user continues to express an action imitating the observed dance, and the robot apparatus 1 observes the dance.

  At this time, the robot apparatus 1 operates via the camera image input device 10, the motion region extractor 11, the BR trajectory short-term storage unit 12, the rhythm information extractor 13 and the physicality converter 14 as in the first half of step S2. An operation pattern is held in the pattern extractor 15, and the operation pattern is supplied to the operation matching unit 22.

  Subsequently, in step S7 of FIG. 4, the robot apparatus 1 evaluates the user's operation at an arbitrary timing.

  Specifically, in the robot apparatus 1, a command is sent to the motion matching unit 22 at an arbitrary timing set in advance by the programmer in the robot behavior setting unit 25, and the motion matching unit 22 responds to this command by the motion pattern extractor. The operation pattern supplied from 15 and the operation pattern supplied from the operation memory 18 are compared. As a comparison method, it is assumed that spectra and body part terms are simply matched, and the distance between the maximum frequencies is calculated for the former, for example. When this distance is equal to or smaller than a predetermined threshold and body matching is achieved, the speech synthesizer 23 outputs a sound “good” via the speaker sound output device 24 (corresponding to the sound output device 253 in FIG. 3). If not, the voice “No” is output. When the voice “OK” is output, the robot behavior setting unit 25 randomly extracts a new motion pattern from the motion memory 18, supplies this motion pattern to the body controller 16, and returns to step S5. In addition, when the number of consecutive times of outputting the voice “No” reaches the number set in advance by the programmer, the robot action setting unit 25 similarly extracts a new action pattern from the action memory 18 in a similar manner, and this action pattern. Is supplied to the body controller 16, and the process returns to step S5. Also, when the total number of times that the sound “Yoshi” has been output reaches the number set in advance by the programmer, the robot action setting unit 25 performs “doing a new dance” via the voice synthesizer 23 and the speaker voice output unit 24. Is output, and the process proceeds to step S8.

  Subsequently, in step S8 of FIG. 4, the user creates a new dance based on the expressed action, and returns to step S1.

  In addition, when the voice “end” is input from the user via the microphone voice input device 20 and is recognized by the voice recognizer 21 at an arbitrary timing, the body controller 16 stops the movement of the actuator 17 and the loop is started. finish.

  As described above, according to the robot apparatus 1 in the present embodiment, bidirectional interaction can be realized by performing a dance imitation operation with a user in both directions. You can improve your values.

  Further, by evaluating each other's dance and changing the dance action according to the evaluation result, for example, when thinking about actual dance choreography, it is possible to help creators create ideas.

  It should be noted that the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the present invention.

  For example, in the above-described embodiment, the robot apparatus 1 and the user (human) have been described as realizing two-way communication through an imitation operation, but the communication target of the robot apparatus 1 is not limited to the user. Other operation subjects such as a robot apparatus having a similar function may be set as communication targets.

It is a perspective view which shows the external appearance of the robot apparatus in this Embodiment. 3 is a block diagram schematically showing a functional configuration of the robot apparatus. FIG. It is a block diagram which shows the structure of the control unit of the robot apparatus in detail. It is a flowchart explaining the order of bidirectional | two-way imitation operation | movement with the robot apparatus and a user. It is a figure which shows the functional block structure of a robot apparatus relevant when a user performs a dance and the robot apparatus performs the operation | movement imitating it. FIG. 4A is a diagram showing a motion region extracted from an image by the robot apparatus and a block region surrounding the motion region, and FIG. 4B is an image of a block region center point for calculating rhythm information. It is a figure which shows a mode that it projects on the axis | shaft which passes a center at arbitrary angles. It is a figure which shows the functional block structure of a robot apparatus relevant when a robot apparatus performs a dance and the user performs the operation | movement imitating it.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Robot apparatus, 10 Camera image input device, 11 Motion area extractor, 12 BR locus short-term memory | storage part, 13 Rhythm information extractor, 14 Physicality converter, 15 Motion pattern extractor, 16 Body controller, 17 Actuator, 18 Motion memory, 19 New motion pattern generator, 20 Microphone speech input device, 21 Speech recognizer, 22 Motion matching device, 23 Speech synthesizer, 24 Speaker speech output device, 25 Robot behavior setting device

Claims (12)

A robot device that can operate autonomously,
Action expression means for selecting and expressing one action pattern from a plurality of action patterns;
Action storage means for storing the expressed action pattern;
An image input means for inputting, as an image, a state in which another action subject imitates the expressed action pattern;
An action extracting means for extracting an action pattern of the other action subject from an image input via the image input means;
Comparing means for comparing the action pattern stored in the action storage means with the action pattern extracted by the action extraction means;
An evaluation unit that evaluates an operation pattern of the other operation subject according to the comparison result.   2. The robot apparatus according to claim 1, further comprising voice output means for outputting the evaluation result by the evaluation means by voice.   The robot apparatus according to claim 1, wherein the movement expression means develops a movement pattern imitating a movement expressed by the other movement subject.   4. The robot apparatus according to claim 3, wherein the action expression means expresses the action pattern extracted by the action extraction means from the image of the other action subject input through the image input means. Voice input means for inputting, by voice, an evaluation result from the other action subject with respect to an action pattern imitating the action expressed by the other action subject,
The robot apparatus according to claim 3, wherein the action expression unit modulates an action pattern to be expressed according to an evaluation result from the other action subject. It has a human-like appearance,
The robot apparatus according to claim 1, wherein the other operation subject is a user of the robot apparatus. An operation comparison method for autonomously operable robotic devices,
An operation expression step of selecting and expressing one operation pattern from a plurality of operation patterns;
An operation storage step of storing the expressed operation pattern in the operation storage means;
An image input process for inputting, as an image, a state in which another operation subject imitates the expressed operation pattern;
An operation extraction step of extracting an operation pattern of the other operation subject from the image input in the image input step;
A comparison step for comparing the operation pattern stored in the operation storage means with the operation pattern extracted in the operation extraction step;
And an evaluation step of evaluating an operation pattern of the other operation subject according to the comparison result.   8. The robot apparatus motion comparison method according to claim 7, further comprising a voice output step of outputting the evaluation result in the evaluation step by voice.   The robot apparatus motion comparison method according to claim 7, further comprising a simulation step of expressing an operation pattern imitating an operation expressed by the other operation subject.   10. The operation of the robot apparatus according to claim 9, wherein in the imitation step, the movement pattern extracted in the movement extraction step is expressed from the image of the other movement subject input in the image input step. Comparison method. A voice input step of inputting, by voice, an evaluation result from the other action subject with respect to an action pattern imitating the action expressed by the other action subject,
The robot motion comparison method according to claim 9, wherein in the motion expression step, a motion pattern to be expressed is modulated according to an evaluation result from the other motion subject. It has a human-like appearance,
The method according to claim 7, wherein the other operation subject is a user of the robot device.

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