JP2014124700A - Device and method for selecting persistent sentiment expressing action of mechanical installation - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device and method for selecting a persistent sentiment expressing action of a mechanical installation.SOLUTION: A device for selecting a persistent sentiment expressing action of a mechanical installation includes a combination-of-actions extraction unit that extracts a combination of actions expressing an emotion of a mechanical installation, and a persistency decision unit that decides for each of emotional expression elements of the mechanical installation, which are included in the extracted combination of actions, whether an action expressed at an immediately preceding time is identical to an action expressed at present, and that if the difference between the action of the emotional expression element expressed at the immediately preceding time and the action of the emotional expression element expressed at present is equal to or larger than a set value, allows the combination-of-actions extraction unit to extract a new combination of actions. Accordingly, the persistency of an emotion expressing action can be guaranteed.

Description

  The present invention relates to an apparatus and method for selecting a continuous emotional expression operation of a mechanical device, and more particularly, an apparatus and method for expressing a current emotion that is continuous with the emotion expressed at the previous time. Regarding the method.

  Crying and laughing right away is not a realistic expression of emotion. Therefore, the robot must also have continuity between each emotion expression in order to express a realistic emotion.

  In particular, in order to add naturalness to the emotional expression of the robot, when different emotional expressions are taken at random for the same emotion, there is a high possibility that such continuity is contrary. Therefore, it is necessary to provide a certain degree of time-series continuity when expressing emotions.

  The present invention is to provide an apparatus and method for selecting a continuous emotional expression operation of a mechanical device for a current emotional expression that is continuous with the emotion expressed at the immediately preceding time. .

  The technical problem to be solved by the present invention is not limited to the technical problem described above, and other technical problems not described will be clearly understood by those skilled in the art from the following description.

  An apparatus for selecting a continuous emotion expression operation of a mechanical device of the present invention for achieving the above object is an operation combination extraction unit that extracts an operation combination expressing emotions of the mechanical device; For each emotion expression element of the mechanical device that constitutes the combination, it is determined whether the action expressed at the immediately preceding time is the same as the action currently expressed, and the action of the emotion expressing element expressed at the immediately preceding time And a continuity determination unit that causes the action combination extraction unit to extract a new action combination when a difference between the currently expressed emotion expression element action is equal to or greater than a set value.

  Further, the set value calculation for calculating the set value so as to be proportional to the difference between the emotion value representing the emotion of the mechanical device expressed at the immediately preceding time and the emotion value representing the emotion of the mechanical device currently expressed. The unit is further provided.

  The emotion value is a complex emotion composed of a plurality of detailed emotions, and the difference between the emotion value of the previous time and the current emotion value is a maximum value or a minimum value among the differences between the detailed emotions. , Average value, intermediate value, or user set value.

  The set value is proportional to the coefficient selected by the user.

  The set value is proportional to the number of emotion expression elements of the mechanical device.

Further, the difference between the motion of the emotion expression element expressed at the immediately preceding time and the motion of the currently expressed emotion expression element is calculated through the following mathematical formula.
here,
And
And b _p (k−1) is the emotion expression operation of the p-th emotion expression element among the operation combinations of the emotion expression elements expressed at the immediately preceding time (k−1 hour), and b _camp ( k) is an emotion expression operation of the p-th emotion expression element among the operation combinations of the emotion expression elements expressed at the current time (k hours), and l is a set value.

  On the other hand, the continuous emotion expression method according to the present invention is a step of extracting a motion combination expressing emotions of a mechanical device; expressed in the immediately preceding time for each emotion expression element of the mechanical device constituting the extracted motion combination. Whether or not the presently expressed motion is the same as the currently expressed motion, and the difference between the motion of the emotional expression element expressed at the immediately preceding time and the motion of the current expressed emotional expression element is a set value If so, a step of extracting a new action combination is included.

  As described above, the continuous emotion expression device of the present invention can guarantee the continuity of emotion expression operations.

  In particular, it is possible to express an emotion that adaptively reflects the difference between the immediately preceding emotion value and the current emotion value.

  In addition, the number of emotional expression elements and responsiveness to emotions can be reflected, enabling more realistic emotional expression.

It is the schematic which shows a general mechanical apparatus emotion expression system. It is a block diagram which shows the emotion expression operation | movement selection apparatus of this invention. It is the schematic which shows the table which set the probability value classified by emotion concerning the emotion expression operation | movement with respect to each element. It is the schematic which shows the table in which the user set the priority order classified by emotion which concerns the emotion expression operation | movement with respect to each element. It is a flowchart which shows the emotion expression operation | movement selection method of this invention. It is the schematic which shows the example in which the apparatus for selecting the continuous emotion expression operation | movement of the mechanical apparatus of this invention is applied to an emotion expression operation selection apparatus. FIG. 3 is a block diagram showing an apparatus for selecting a continuous emotional expression operation of the mechanical device of the present invention.

  Hereinafter, the continuous emotion expression apparatus and method of the present invention will be described in more detail with reference to the drawings.

  Before explaining a full-fledged continuous emotion expression device, I will describe the robot emotion expression method for understanding.

  In order for the robot to express emotions, the emotion value of the current robot must be calculated. Emotions are rarely defined by a single emotion, such as joy or sadness. Even if humans feel joy now, some other emotions such as surprise emotion and anger emotion are reflected. That is, the emotional expression is a result of reflecting complex detailed emotions. Therefore, in order to realize realistic emotion expression through the robot, the emotion value applied to the robot also reflects various detailed emotions such as happiness, sadness, surprise, anger, etc. And can be expressed as a vector.

  FIG. 1 is a schematic diagram showing a general mechanical apparatus emotion expression method. In general, a space of a two-dimensional or three-dimensional fixed dimension is used to express the emotion of a robot, and emotion is mapped to a certain position on the space of the fixed dimension. The emotion value can be expressed and calculated as a vector value corresponding to a certain position in space.

  That is, when various emotions on the vector space are mapped and a specific emotion vector is given, the specific emotion vector and the emotions closest in distance among the various emotions mapped on the vector space A method of selecting and expressing one has been adopted.

  In other words, since there is a limit to manually mapping emotions to countless coordinates in the vector space, the conventional method of FIG. 1 selects a small number of coordinates and corresponds to emotions and emotions corresponding to each coordinate. After mapping the emotion expression behavior to be performed, the emotion value of the robot is analyzed, the emotion of the closest coordinate is selected, and the emotion expression is thereby performed.

  For example, an emotion value 1 {joy 1, sadness 0, surprise 0, anger 0) is set at coordinates 1 on a four-dimensional vector space, and emotion value 2 {joy 3/4, sadness 1/4, If surprise 0, anger 0} and emotion value 3 {joy 3/4, sadness 0, surprise 1/4, surprise 0} are closer to coordinate 1 than coordinates expressing other emotions, emotion values 1, 2, In all cases 3, the emotional expression set at the coordinate 1 is performed.

  As described above, the conventional method selects only one of the most similar emotion values mapped to the coordinate 1 even though the emotion values actually generated internally are different. Since the emotion expression operation is selected based on the emotion value at the same coordinates, the form generally expressed through an expression organization is the same.

  FIG. 2 is a block diagram showing an emotion expression operation selection device.

  The emotion expression operation selection device shown in FIG. 2 is configured to set the probability of each emotion expression operation performed for each expression element of the robot with respect to each predetermined emotion. A motion combination generation unit 130 that generates a motion combination in which emotion expression motions are randomly extracted one by one, and an average of the probability of the emotion expression motion included in each motion combination is calculated for each emotion, A motion combination selection unit 150 that selects the motion combination whose average is closest to the emotion value of the robot from each motion combination is provided.

  The emotion expression setting unit 110 sets the probability of the emotion expression operation performed for each expression element of the robot.

  The expression element of the robot is an individual action element or an emotion expression element that can be operated by the robot and can recognize the movement of the robot visually or auditorily. For example, eyes, mouths, ears, heads, hands, feet, etc. correspond to the elements of the robot. The expression elements of the robot include speakers that display emotional sounds such as laughter and cry.

The emotion expression setting unit 110 defines an action related to emotion expression (hereinafter referred to as an emotion expression action) from various actions of each expression element, and sets a probability for each emotion expression action.
The emotion expression setting unit 110 sets a probability for each emotion (detailed emotion) for the emotion expression operation selected in this way, as shown in FIG. Referring to FIG. 3, emotional expressions such as normal (Neutral), smile (Smile), open (Open), tightly close (Close), shake / twist (Shake), and frown (Flow) are defined. And six expression actions were defined for the eyes and head. Of course, the number of emotion expression operations of each expression element may not be the same.

  The emotion expression setting unit 110 sets a probability for each detailed emotion with respect to opening (Open). Specifically, happiness (2/6) = 1/3, sadness (Sadness) 0, surprise (Surprise) 3/6 = 1/2, anger (Anger) 1/6 can be set. Such a probability is set for every action for each expression element. As shown in FIG. 3, the number and probability of detailed emotions related to Happiness, Sadness, Surprise, and Angry are set by the user. When the user directly sets the probability, the emotion expression setting unit 110 can perform a database function of storing the probability for each emotion related to the emotion expression operation of each expression element in a table.

  On the other hand, since it is difficult for the user to set the probability directly, the user may simply set only the priority order, and the priority order set by the emotion expression setting unit 110 may be converted into a probability.

  FIG. 4 is a diagram showing a table in which the priority set by emotion related to the emotion expression operation for each element is set by the user.

The emotion expression setting unit 110 uses the following formula 1 in order to convert the priority of FIG. 4 into the probability of FIG.
here,
Is the p-th element, w is the probability value of the j-th emotion related to the _p- th emotion expression action,
Is the p-th element, w is the priority of the j-th emotion related to the _p- th emotion expression action,
Is the p-th element, and is the largest value among the priorities of the j-th emotion related to the w _p- th emotion expression action,
Is the sum of the priorities of all emotions related to the _{p p} element, and the w _p th emotion expression operation.

  In FIG. 4, the priority of mouth open is surprise 1 rank, joy 2 rank, and anger 3 rank. Applying this to Equation 1, the pleasure of opening is (3-2 + 1) / 6 = 1/3. Sadness is 0 because there is no priority. The surprise of opening is (3-1 + 1) / 6 = 1/2. The anger with open mouth becomes (3-3 + 1) / 6 = 1/6. This is consistent with FIG.

The action combination generation unit 130 generates action combinations by randomly extracting and combining emotion expression actions one by one from each expression element. The action combination is an emotion expression action set of each expression element that operates when expressing an emotion. For example, in the action combination, the operation of opening (Open) from the mouth (Mouth) of the expression element, the operation of opening (Big) from the eyes (Eyes) of the expression element, and the action of backing (Back) from the head (Head) of the expression element Extracted and combined. If the probabilities (values) of such combinations are arranged in the order of joy, sadness, surprise, and anger, they are as follows.
Mouth 1/3 0 1/2 1/6
Eye 1/3 0 2/3 0
Head 0 0 2/3 1/3

  The operation combination generation unit 130 can generate one or more operation combinations.

  The reason why emotion expression operations are extracted at random is to perform various emotion expression operations for the same emotion value, which will be described later.

  Next, the motion combination selection unit 150 first calculates an average for each emotion with respect to the probability of the emotion expression motion included in the motion combination.

  In other words, in the case of a combination of opening the mouth, widening the eyes, and looking up at the head, the average of pleasure is (1/3 + 1/3 + 0) / 3 = 2/9, the average of sadness is 0, and the average of surprise is (1 / 2 + 2/3 + 2/3) / 3 = 11/18, and the average of anger is (1/6 + 0 + 1/3) / 3 = 1/6.

  Next, the calculated average value is compared with the inputted emotion value of the robot. If the emotion value of the robot is a vector of the form {joy, sadness, surprise, anger}, the average value calculated in a comparable manner is also vectorized as {2/9, 0, 11/18, 1/6}. To do.

  Next, the action combination selection unit 150 calculates the distance between both vectors. If there are a plurality of motion combinations, the distance to the emotion value of the robot is obtained as described above using the emotion-specific average value for each motion combination, and the motion combination for which the average (vector) having the shortest distance is calculated. Select. By transmitting the selected motion combination to the control unit that controls each element, the robot can express natural emotions. The shortest distance between the two vectors means the closest distance.

The operation of the above operation combination selection unit 150 is defined by the following Equation 2. The following formula is an example for explaining the operation of the operation combination selection unit 150.
Here, e (k) is the emotion value (vector) of the robot to be expressed in k hours, P is the total number of robot emotion elements,
Is the p-th element and w is the emotion value (vector) of the _p- th emotion expression operation, ‖‖ is the size of the vector (distance between vectors), and min is the minimum value among a plurality of values Is an operator that selects
Is an operator that expresses the factors w ₁ , w ₂ ,..., W _p ,..., W _P used to derive the values as a transposed matrix, and b (k) is selected to be closest to the emotion value of the robot Is a combination of movements.

According to the existing emotion expression method, the robot was able to express emotions using only a small number of predefined motion combinations. However, according to the above configuration, if any motion combinations that can be extracted are used, It can express feelings using ^several operating combinations ^{of representation elements} (the number of types of emotion expression operation assigned to the expression element).

  Also, if the motion combination generation unit 130 that randomly extracts emotion expression motions generates only some motion combinations instead of all motion combinations, different motion combinations can be selected even for the same emotion value. Therefore, more natural emotion expression is possible. For example, in the case of human beings, when expressing happy emotions, they sometimes frown instead of smiling, but according to the above configuration, so-called emotional expression randomness can be realized.

  In order to highlight the randomness of emotional expressions, the following scheme can be further considered.

  When the average closest to the emotion value of the robot is referred to as the proximity average, the motion combination selection unit 150 calculates the average in the order of the motion combinations input from the motion combination generation unit 130, and the currently calculated average is the proximity average up to the present. If not, if the difference between the currently calculated average and the proximity average satisfies the randomness, the currently calculated average can be selected as the proximity average up to now.

  As described above, the action combination selection unit 150 is not interested in the action combination unless the currently calculated average is the proximity average up to the present. This is because there is a motion combination closer to the emotion value, but it is not necessary to select the current motion combination. Therefore, if it is not the proximity average, there is a possibility that the currently calculated average is regarded as a dummy.

  However, if various action combinations are selected for the same emotion, an opportunity to select the proximity average is given to the average calculated not the proximity average up to now.

  For this purpose, the action combination selection unit 150 determines whether or not the difference between the currently calculated average and the proximity average satisfies randomness. At this time, the randomness means that a constant selected at random is used as a reference.

  That is, whether or not the difference between the currently calculated average and the proximity average satisfies the randomness includes various methods for discriminating on the basis of a randomly selected constant.

The difference between the currently calculated average and the proximity average also includes indirect subtraction in addition to direct subtraction. As such an example, it is possible to determine whether or not the randomness is satisfied as in Expression 3 below.
here,
And random (0,1) is a random value between 0 and 1, Z is a termination constant, a value that decreases each time the iteration value is counted, and error (b _best (K)) is the magnitude of the difference between the optimal action combination and the emotion value of the robot, and error (b _can (k)) is the magnitude of the difference between the action combination and the emotion value of the robot.
It is.

In Formula 3, the difference between the calculated average and the proximity average is expressed as P _A (k), and a value between 0 and 1 is used as a random constant.

  The termination constant Z is related to the iteration value, that is, the number of iterations, and will be described later.

  FIG. 5 is a flowchart showing an emotion expression operation selection method.

  The emotion expression operation selection method shown in FIG. 5 can correspond to the description of the operation of the emotion expression operation selection device of FIG.

  First, for each predetermined emotion, the probability of each emotion expression operation performed for each expression element of the robot is set (S510). In emotion expression setting section 110, each emotion corresponding to the action expressed by the emotion expression element of the robot is set in advance by the user. As described above, the setting is set to the probability value for the emotion expression element itself or the order of emotions by the expression operation.

  Next, at each expression element, one emotion expression operation is randomly extracted one by one to generate one or more operation combinations (S530). This is an operation performed by the operation combination generation unit 130.

  The average of the probability of the emotion expression motion included in the motion combination is calculated for each emotion, and the motion combination whose average is closest to the emotion value of the robot is selected from the motion combinations (S550). As an operation performed by the operation combination selection unit 150, for example, an operation combination according to Equation 2 can be selected.

  Here, the step of selecting the operation combination will be described again in detail as follows.

  a) For each predetermined emotion, the probability of each emotion expression operation performed for each expression element of the robot is set (S510). Considering the convenience of the user, the priority order can be converted into a probability as shown in Equation 1.

b) For each expression element, an emotion expression operation closest to the emotion value of the robot is extracted to generate an initial operation combination (S530).
The initial operation combination b _init is defined by Equation 4 below.
here,
In and, R ^P represents a P-dimensional vector of a component of the real number. That is, b _init is expressed by a P-dimensional vector, and a real number is a component.

  c) From the expression elements, the emotion expression actions are randomly extracted one by one to generate action combinations, and the average of the probability of the emotion expression actions included in the action combinations is calculated for each emotion (S551). .

The generated motion combination b _can (k) is defined by the following Equation 5.
Since b _can (k) is a combination of emotion expression operations extracted at random,
There is no beginning.

d) It is determined which one of the average of the probabilities and the optimum motion combination b _best (k) having the initial motion combination as an initial value is closer to the emotion value of the robot (S552).
The formula used for the determination at this time is defined by the following formula 6.
here,
And at the beginning of discrimination
If substitution is performed in step e), error (b _best (k)) = error (b _can (k)).

e) If the average of the probabilities is closer to the emotional value of the robot, that is, if Equation 6 is satisfied, the optimal action combination b _best (k) is set to the average action combination b _can (k) of the probability. Substitute (S553) (b _best (k) ← b _can (k)), and after subtracting the iteration value (S554), if the iteration value is 0 (S555), the optimal motion combination is selected as the robot motion If not, the process returns to step c).
The repetition value is set by various methods, mathematical formulas, and constants.
For example, if an end constant Z and an end criterion ε are set and the following Expression 7 is satisfied, it can be processed that the iteration value is 0.
Here, the initial Z is a real number larger than ε, and the subtraction of the iteration value is that Z is replaced by ξZ, and 0 <ξ <1.
The termination constant Z of Equation 3 may be the termination constant Z of Equation 7. In this case, the probability that the currently calculated average satisfies Equation 3 increases as the number of iterations increases.

  f) If the optimum action combination is closer to the emotion value of the robot, it is determined whether or not the difference between the average action combination of the probabilities and the optimum action combination satisfies randomness (S557). Randomness can be determined through Equation 3.

  g) If the randomness is satisfied, the optimum action combination is substituted for the action combination (S553), and the iteration value is subtracted (S554). If the iteration value is 0 (S555), the optimum action is obtained. A combination is selected as the operation of the robot (S556). If the repetition value is not 0, the process returns to step c).

  h) If the randomness is not satisfied (S557), the process returns to the step c) without subtracting the repetition value. Whether the steps g) and h) satisfy randomness is performed according to Equation 3. Returning to step c) without subtraction of the repetitive value means that step g) is always advanced even if step e) is not progressing at all. Therefore, if it is not necessary to proceed with step g), it is sufficient to return to step c) by subtracting the iteration value in step h).

  In the above, the method for the expression of emotion was examined. According to the described configuration, the best emotional expression or random emotional expression corresponding to various and complex emotions is possible.

  However, since random emotion expressions are considered, there may be a gap between the previous emotion expression action and the current emotion expression action. Such gaps between actions need to be eliminated to limit natural emotional expressions. Hereinafter, an apparatus and method for continuous emotion expression according to the present invention will be described.

  FIG. 6 is a block diagram showing an apparatus for selecting a continuous emotional expression operation of the mechanical device of the present invention.

  The apparatus for selecting a continuous emotion expression operation of the machine device shown in FIG. 6 includes an operation combination extraction unit 210 that extracts an operation combination that expresses the emotion of the robot, and a robot that constitutes the extracted operation combination. Whether or not the previous operation and the current operation are the same for each expression element, and if it is determined that the elements are not the same among the elements equal to or greater than the set value, the operation combination extracting unit 210 extracts a new operation combination. A determination unit 230 is provided.

  The action combination extraction unit 210 extracts action combinations that express the emotions of the robot. The action combination extracted at this time may be the action combination immediately before being finally selected and transmitted to the control unit of each element of the robot, or may be the action combination extracted in the process of selecting the action combination. That is, the emotion expression motion extraction device may be located anywhere on the output end of the device that outputs the motion combination.

The continuity determination unit 230 extracts a new operation combination when the extracted operation combination b _can (k) is different from the operation combination b (k−1) of the immediately preceding time by a set value or more. As a result, compared to the previous time operation combination. By extracting a motion combination having a motion change within the set value, a gap is eliminated between the motion at the previous time and the current motion. That is, the continuity of operation is maintained.

Specifically, the continuity determination unit 230 can determine the continuity of the operation through the following formula 8.
here,
And
B _p (k−1) is an action combination of the immediately preceding time (k−1 hour) and is an emotion expression operation of the p th expression element, and b _camp (k) is the current time (k hours). ) Is an emotion expression operation of the p-th expression element, and l is a set value.

  If Expression 8 is satisfied, it is determined that there is continuity, and if not, it is determined that there is no continuity.

  According to the above configuration, continuity of operation can be guaranteed. However, if the set value is fixed, the emotional expression is limited. For example, when there is a large change in the emotion value itself, there is only a considerable difference between the previous action combination and the current action combination. In such a case, if a fixed set value is used, there is a possibility that the optimal emotional expression may not be used due to continuity. In order to prevent such a phenomenon, the set value is fluidly changed in relation to the emotion value.

  For this purpose, the device for selecting the continuous emotional expression operation of the mechanical device is set so that the emotion value representing the emotion of the robot is proportional to the difference between the emotion value at the previous time and the current emotion value. A setting value calculation unit 250 for calculating a value is further provided.

At this time, the emotion value may be a complex emotion (vector) composed of a plurality of detailed emotions. In such a case, the difference between the emotion value of the previous time and the current emotion value may be the largest value among the differences between the detailed emotions as shown in Equation 9.
Here, J is the total number of detailed emotions that can be expressed,
E _j (k−1) is the jth detailed emotion value in the immediately preceding emotion value, e _j (k) is the _jth detailed emotion value in the current motion value, and max {} is An operator that extracts the maximum value.

  In this way, when the largest value among the differences between emotions is used, the difference between the emotion value of the previous time and the current emotion value increases, so there is a high probability that the emotion of the previous time and the current emotion will change each other. There is an effect that various emotional expressions are possible.

  In addition, the present invention is not necessarily limited to the use of the largest value among the differences between the detailed emotions as in Equation 9, and the value with the smallest difference between the detailed emotions may be used. When the smallest value is used, since the difference between the emotion value of the previous time and the current emotion value is not large, a highly continuous emotion can be expressed between the emotion of the previous time and the current emotion.

  As a result, according to the present invention, as the difference between the emotion value of the previous time and the current emotion value, the maximum value, the minimum value, the intermediate value, the average value, or the user directly sets the difference among the detailed emotions as necessary. Any one of the values can be used. It goes without saying that, unlike Equation 9 for obtaining the maximum value, the operator used for obtaining the minimum value, the intermediate value, or the average value can be changed.

  The set value is proportional to the coefficient selected by the user. Since there is a difference in the continuity of movement depending on the coefficient, a difference occurs in the movement change with respect to emotion conversion. This means that the personality of the robot (reaction characteristics with respect to the minimum emotion) can be imparted through the coefficient.

  The set value is proportional to the number of expression elements that perform the emotion expression operation. If there are many expression elements that perform emotion expression operations but the setting value is small, the emotion expression operations must be very limited. Therefore, it is desirable that the set value is proportional to the number of elements.

Reflecting the above contents, the set value l is expressed by the following Equation 10.

  Here, P is the total number of elements, and φ is a coefficient selected by the user.

  FIG. 7 shows an example in which a device for selecting a continuous emotional expression operation of the mechanical device of the present invention is applied to the emotional expression operation selection device of FIG.

  FIG. 7 shows the probability average calculation step (S551) in FIG. 5 divided into a random motion combination generation step (S558) and a probability average calculation step (S559). The random action combination generation stage (S558) is a stage in which emotion expression actions are randomly extracted one by one in the probability average calculation stage (S551) to generate action combinations. The probability average calculation stage (S559) This is a step of calculating the average of the emotion expression motion probabilities included in the combination for each emotion.

  The apparatus for selecting the continuous emotional expression operation of the mechanical device of FIG. 6 can operate by intervening between the random operation combination generation step (S558) and the probability average calculation step (S559). The device for selecting the continuous emotional expression operation of the mechanical device can be positioned at any output terminal at the stage where the operation combination in FIG. 5 is output because the input value is an operation combination.

  On the other hand, those skilled in the art will understand that the present invention can be implemented in other specific forms without changing the technical idea and essential features. Accordingly, it should be understood that the embodiments described above are illustrative in all aspects and not limiting. The scope of the present invention is defined by the terms of the claims, rather than the foregoing detailed description. The meaning and scope of the claims, and any modifications or variations derived from equivalents thereof are intended to be within the scope of the present invention. Should be interpreted as being included in

  The present invention can be suitably applied to a technical field related to a device for selecting a continuous emotion expression operation of a mechanical device.

110 emotion expression setting unit 130 operation combination generation unit 150 operation combination selection unit

Claims (8)

A motion combination extraction unit that extracts a motion combination that expresses the emotion of the mechanical device;
For each emotion expression element of the mechanical device that constitutes the extracted action combination, it is determined whether the action expressed at the immediately preceding time is the same as the action expressed at the present time, and is expressed at the immediately preceding time. A machine including a continuity determination unit that causes the action combination extraction unit to extract a new action combination when a difference between the action of the emotion expression element and the action of the presently expressed emotion expression element is equal to or greater than a set value; A device for selecting a continuous emotional expression behavior of the device.   A set value calculation unit for calculating the set value so as to be proportional to a difference between an emotion value representing the emotion of the mechanical device expressed at the immediately preceding time and an emotion value representing the emotion of the mechanical device currently expressed. The apparatus for selecting a continuous emotional expression operation of a mechanical apparatus according to claim 1, further comprising: The emotion value is a complex emotion composed of a plurality of detailed emotions,
The difference between the emotion value at the previous time and the current emotion value is any one of a maximum value, a minimum value, an average value, an intermediate value, or a user set value among the differences between the detailed emotions. The apparatus for selecting a continuous emotional expression operation of a mechanical device according to claim 2.   4. The apparatus for selecting a continuous emotion expression operation of a mechanical device according to claim 2, wherein the set value is proportional to a coefficient selected by a user.   4. The apparatus for selecting a continuous emotional expression operation of a mechanical device according to claim 2, wherein the set value is proportional to the number of emotional expression elements of the mechanical device. The difference between the motion of the emotion expression element expressed at the immediately preceding time and the motion of the emotion expression element expressed at the present time is calculated through the following mathematical formula. A device for selecting a continuous emotional expression operation of the mechanical device according to paragraph:
here,
And
And
b _p (k−1) is an emotion expression operation of the p-th emotion expression element among the operation combinations of the emotion expression elements expressed in the immediately preceding time (k−1 hour),
b _camp (k) is an emotion expression operation of the p-th emotion expression element among the action combinations of the emotion expression elements expressed at the current time (k hours),
l is a set value. Extracting a motion combination that expresses the emotion of the machine,
For each emotion expression element of the mechanical device constituting the extracted action combination, it is determined whether the action expressed at the immediately preceding time is the same as the action expressed at the present time, and is expressed at the immediately preceding time. A step of extracting a new action combination when the difference between the action of the emotion expression element and the action of the presently expressed emotion expression element is equal to or larger than a set value. A method for selecting a persistent emotional expression behavior. The machine device according to claim 7, wherein the difference between the motion of the emotion expression element expressed at the immediately preceding time and the motion of the emotion expression element expressed at the present time is calculated through the following mathematical formula. Methods for selecting persistent emotional expression behavior:
here,
And
And
b _p (k−1) is an emotion expression operation of the p-th emotion expression element among the operation combinations of the emotion expression elements expressed in the immediately preceding time (k−1 hour),
b _camp (k) is an emotion expression operation of the p-th emotion expression element among the action combinations of the emotion expression elements expressed at the current time (k hours),
l is a set value.