JP3501123B2 - Robot apparatus and behavior control method for robot apparatus - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot apparatus that naturally operates like a living body, and a behavior control method for such a robot apparatus.

[0002]

2. Description of the Related Art Conventionally, a robot apparatus having a multi-legged biological object such as a dog or a cat has been developed. Such a conventionally proposed robot apparatus has only been capable of silently continuing only a pre-programmed and determined task, or performing a behavior along a simple sequence.

[0003]

By the way, there are some portable terminals that keep a virtual pet equipped with an emotion model. However, such a virtual pet cannot move around in the real world, so that it may cause a difference in reality and life. Was missing.

Therefore, the present invention has been proposed in view of the above circumstances, and an object of the present invention is to provide a robot apparatus and a behavior control method for the robot apparatus capable of acting with a sense of reality and life in the real world. And

[0005]

A robot apparatus according to the present invention, in a robot apparatus having an articulated drive unit, recognizes a plurality of recognition objects configured by an object-oriented design for recognizing input information and notifying a recognition result. The recognition result is input by exchanging information between the holding means and each of the plurality of recognition objects, and having a plurality of emotion parameters for changing the emotion level according to the recognition result, by object-oriented design A means for holding a modularized emotion model object by configuring, and controlling the multi-joint drive unit based on information from the emotion model object by exchanging information with the emotion model object. By object-oriented design that makes the robot act by doing And means for holding made behavioral generated object, based on the output of the behavior generation object, and having a control means for controlling the multi-joint driving unit.

Further, the robot apparatus according to the present invention is a robot apparatus having an articulated drive unit, which holds a plurality of recognition objects configured by an object-oriented design for recognizing an internal state and notifying a recognition result. , The object having the plurality of instinct parameters for inputting the recognition result by exchanging information with each of the plurality of recognition objects and changing the instinct level according to the recognition result. And a means for holding a modular instinct model object, and by exchanging information with the instinct model object, the robot is controlled by controlling the articulated drive unit based on the information from the instinct model object. Constructed by object-oriented design to make the device act Means for holding the action generation object, and control means for controlling the multi-joint drive unit based on the output of the action generation object.

Further, a robot apparatus according to the present invention is a robot apparatus having an articulated drive unit, which holds a plurality of recognition objects configured by an object-oriented design for recognizing input information or an internal state and notifying a recognition result. And the recognition result is input by mutually exchanging information with each of the plurality of recognition objects.
Having a plurality of emotion parameters that change the emotion level according to the recognition result, an emotion model object modularized by being configured by object-oriented design, or exchanging information with each of the plurality of recognition objects. The recognition result is input by doing, having a plurality of instinct parameters that change the instinct level according to the recognition result, means for holding a modularized instinct model object by being configured by object-oriented design, By exchanging information with the emotion model object or the instinct model object, the multi-joint drive unit is controlled based on information from the emotion model object or information from the instinct model object. Robot equipment by And means for holding the behavior generation object constituted by an object-oriented design to act, based on the output of the behavior generation object, characterized in that it has a control means for controlling the multi-joint driving unit.

Further, a behavior control method for a robot apparatus according to the present invention is a method for controlling a robot apparatus having an articulated drive unit, wherein a plurality of recognition objects configured by object-oriented design, recognizing input information, and notifying a recognition result. A step of inputting a recognition result from the plurality of recognition objects by mutually exchanging information with the emotion model object configured by object-oriented design, and the recognition object input to the emotion model object. Changing the emotion level according to the information of the recognition result, and the action generation configured by the object-oriented design based on the information from the emotion model object by exchanging information with the emotion model object. The object controls the articulated drive. And a step of causing the robot apparatus to act by the following.

In addition, a behavior control method for a robot apparatus according to the present invention is a method for controlling a robot apparatus having an articulated drive unit, wherein a plurality of recognition objects configured by object-oriented design for recognizing an internal state and notifying a recognition result are provided. By exchanging information with each other, the recognition result from the plurality of recognition objects is input to the instinct model object configured by object-oriented design, and the recognition object input to the instinct model object. The process of changing the instinct level according to the information of the recognition result, and the action generation configured by the object-oriented design based on the information from the instinct model object by exchanging information with the instinct model object. The object controls the articulated drive. And a step of causing the robot apparatus to act by the following.

Further, a behavior control method for a robot apparatus according to the present invention is a method for controlling a robot apparatus having an articulated drive unit, wherein a plurality of objects configured by object-oriented design are provided for recognizing input information or internal states and notifying a recognition result. By mutually exchanging information with the recognition object, the recognition result from the plurality of recognition objects is input to the emotion model object configured by object-oriented design, or the recognition result from the plurality of recognition objects is an object. A step of inputting to the instinct model object configured by directional design, and changing the emotion level according to the information of the recognition result of the recognition object input to the emotion model object, or
Changing the instinct level according to the information of the recognition result of the recognition object input to the instinct model object, and exchanging information with the emotion model object or the instinct model object, whereby the emotion model Based on the information from the object or based on the information from the instinct model object, the robot apparatus is caused to act by controlling the multi-joint driving unit.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

The present invention is applied to, for example, the robot apparatus 1 having the configuration shown in FIG. The robot apparatus 1 has a central processing unit (Central Processi) for controlling the entire system.
ng Unit: Hereinafter referred to as "CPU". ) 11, a video camera 12 having, for example, a CCD (Charge Coupled Device) image sensor, a storage unit 13 for storing video data and the like from the video camera 12, a host controller of a serial bus, etc. Large-Scale Integrated circuit: Below, "LS
I ". ) 14 and.

The LSI 14 has a communication section 14a including an interface for serial communication, parallel communication, USB communication, etc., and is connected to an external personal computer 100 via this communication section 14a. At this time,
The personal computer 100 can change, for example, a program for operating the CPU 11 or perform an operation via the LSI 14.

The LSI 14 is connected to various devices such as the PC card standard via the PC card interface 15.
For example, ATA (Advanc
ed Technology Attachment) Storage device 200 such as a flash memory card or communication device 300 such as a wireless communication card
Connected with.

The storage device 200 stores various parameters for controlling the emotion level of the emotion unit and the instinct level of the instinct unit. Specifically, emotion parameters, input action parameters, decay parameters, interaction parameters, etc., which are elements for changing and controlling the emotion level of the emotion unit, are stored. Further, instinct parameters, input action parameters, increase parameters, etc., which are elements for changing and controlling the instinct level of the instinct unit, are also stored. At the time of execution, the storage device 2
These parameters are read from 00 and used.

The LSI 14 is provided with a timer (not shown) for obtaining real-time time information, and a battery manager (not shown) for controlling the remaining amount of the battery and for controlling power-on at a time associated with the timer. Equipped with.

In addition, the robot apparatus 1 has limbs, ears,
The first to fourth CPCs (Configurable TPCs) that configure the mouth, etc.
echnology Attachment) Device 20, 30, 40, 5
With 0 and. Each CPC device is connected to a serial bus hub (SBH) 14b in the LSI 14. Here, four CPC devices are shown, but it goes without saying that the number thereof is not particularly limited.

The first CPC device 20 is the LSI 14
A hub 21 that controls each circuit in the device according to a control command from the device, a memory 22 that temporarily stores a control signal and a detection signal, and an acceleration sensor 23 that detects acceleration.
, A potentiometer 24, and an actuator 25 serving as a joint or the like. The acceleration sensor 23 detects accelerations in the directions of the three axes in units of several tens of milliseconds, and supplies the detection results to the CPU 11 via the hub 21 and the serial bus hub 14b.

The second CPC device 30 includes a hub 31.
A memory 32, a rotational angular velocity sensor 33 that detects a rotational angular velocity, a potentiometer 34, and an actuator 35. The rotational angular velocity sensor 33 detects the rotational angular velocity in the three axial directions in units of several tens of milliseconds, and the detection result is sent to the LS via the hub 31 and the serial bus hub 14b.
Supply to I14.

The third CPC device 40 includes a hub 41.
And a memory 42 and a light-emitting diode (LED) 4 that indicates that a stimulus is received from the outside by, for example, emitting light.
3 and a touch sensor 4 for detecting whether or not the contact portion is in contact
4 and.

The fourth CPC device 50 includes a hub 51.
And a memory 52, a speaker 53 that plays a role of "mouth" that outputs sound to the outside, and an "ear" that detects outside sound.
And a microphone 54 that plays a role of.

The appearance of the robot apparatus 1 is a multi-legged walking robot. That is, the robot apparatus 1 is a multi-legged, multi-joint robot and has the shape of an animal having four legs. The robot device is not limited to this, and may be, for example, a bipedal articulated robot.

The acceleration sensor 23 described above is
Acceleration in the axis, Y-axis, and Z-axis directions is detected. The rotational angular velocity sensor 33 detects rotational angular velocities for the R angle, P angle, and Y angle when rotating around the X axis, Y axis, and Z axis.

The program for controlling the robot apparatus 1 is designed in a hierarchical structure as shown in FIG. Specifically, the program is an embedded real-time OS (Operating Sy) operating on the hardware having the above-described configuration.
stem), system software, middleware,
It is constructed by forming three layers of applications.

The system software layer is composed of, for example, a device driver that directly controls a device and a server object that provides a service to an object in an upper layer.

The middleware layer represents, for example, a recognition object that processes sensor information such as an image, a sound, and a contact, a motion control object that controls the motion of the robot such as walking and posture, and a limb, a head, and a tail. It consists of a motion generation object that does.

The application layer is composed of, for example, a learning object for learning, an emotion / instinct model object for handling emotions and instinct, an action generation object for determining behavior, and a scenario object for characterizing the entire robot apparatus.

The emotion / instinct model object includes an emotion module and an instinct module. The emotion module handles a plurality of types of emotion units as data. The emotion unit includes, for example, a current emotion level (hereinafter, referred to as “emotion level”), a minimum emotion level, a maximum emotion level, and a threshold serving as a reference for notifying emotions. The emotion unit includes only emotions to be handled, and is composed of emotions such as joy, sadness, anger, fear, surprise, and disgust. Each of these emotional levels is first initialized by the value of the emotional parameter, and then changes according to information from the outside such as the recognition object or the passage of time.

Each emotional unit has the property of affecting each other by raising or lowering the emotional level. For example, when the emotional level of the sadness emotional unit is high, the emotional level of the anger emotional unit is high.
Also, when the emotion level of the joy emotion unit is high,
Anger and disgust emotional units have lower emotional levels. The emotion unit described above is an example, and the present invention is not limited to this.

Like the emotion module, the instinct module handles the instinct unit as data. The instinct unit includes, for example, a current instinct level (hereinafter, referred to as “instinct level”), a minimum instinct level, a maximum instinct level, and a threshold value serving as a reference for notifying the instinct. The instinct unit is prepared according to the type of instinct to be handled, such as appetite, exercise, rest, love, knowledge,
It is composed of instinctual desires such as sexual desire. Each of these instinct levels is first initialized by the value of the instinct parameter, and then changes with the information from the outside such as the recognition object and the passage of time. In addition, each instinct unit,
Unlike the emotional units, they do not enhance each other's instinct levels. However, the instinct module and the emotion module may influence each other. For example, as an instinct, when "being hungry", it is easy to feel "angry".

Each of the above-mentioned objects is constructed by an object-oriented design. Regardless of whether it is in the upper layer or in the lower layer, it receives information from other objects and changes its state accordingly, Outputs information according to the state to other objects. That is, information is exchanged between the objects and influences each other. It should be noted that such an object is one that causes a biological action (for example, learning,
It is possible to apply various elements related to biological action such as thinking and recognition) and means for performing biological action (limbs, joints, motion control).

Next, a case where an action is taken based on the output of the emotion module will be described. The emotion module may change the emotion level of each emotion unit by inputting external information, or may change the emotion level by itself over time.

First, the above-described recognition object is various sensor information of the first to fourth CPC devices 20, 30, 40, 50 shown in FIG. 1 which is hardware, for example, color information of an image by a color sensor. , Handles input information such as speaker sound information by the sound sensor and contact information by the contact sensor. Then, when the recognition object recognizes the information to be notified, as shown in FIG. 3, the recognition object notifies the emotion module of the emotion / instinct model object of the information on the recognition result.

When information is input from the recognition object, the emotion module determines the type of the input information as shown in FIG. 4 (step ST1) and uses the parameters according to the input information. , The emotion level of each emotion unit is changed (step ST2). Then, the emotion module selects the emotion unit having the maximum emotion level among the emotion units having the emotion level exceeding the threshold value. The selected emotional unit notifies the information to the object requesting the output, such as the action generation object. The object requesting output needs to register itself as an observer in the emotion module according to the object-oriented observer pattern. The emotion module may also accept input from an object that does not directly handle sensor information, such as receiving a message that the instinct module has resolved frustration.

The action generation object controls the hardware via the action generation object or the like. That is, the first to fourth CPC devices 20, 3 shown in FIG.
By controlling 0, 40, 50, for example, an operation using a limb, a head, a tail, etc., sound generation, LED blinking intervals, etc. are performed to express an emotion.

On the other hand, the emotion module executes the processing of step ST11 and subsequent steps shown in FIG. 5 as time passes.

In step ST11, the emotion module initializes emotion level and parameters, and proceeds to step ST12.

In step ST12, the emotion module uses the timer of the LSI 14 to determine whether or not a fixed time has elapsed. If the fixed time has not elapsed, the emotion module waits in step ST12, and if the fixed time has elapsed, It proceeds to step ST13.

In step ST13, the emotion module attenuates the emotion level of each emotion unit, and proceeds to step ST14. It should be noted that the magnitude of the attenuation depends on the storage unit 1.
Determined by the damping parameter stored in 3.

In step ST14, the emotion module changes the emotion level by suppressing / stimulating each emotion, and proceeds to step ST15. For example, when fear is large, joy is small, and when dislike is large, anger is large. The interaction relationship and its magnitude are determined by the mutual parameters stored in the storage unit 13.

In step ST15, the emotion module determines whether or not there is an emotion unit exceeding the threshold value, and if there is no such emotion unit, step ST12.
If there is such an emotional unit, go to step ST
Proceed to 16.

In step ST16, the emotion module selects the emotion unit having the highest emotion level from the emotion units exceeding the threshold value, and in step ST17.
Proceed to.

In step ST17, the emotion module notifies the action generation object of information on the selected emotion unit. The selected emotional unit notifies the information to the object requesting the output, such as the action generation object. Note that the emotion module may also accept input from an object that does not directly handle sensor information, such as receiving a message that the instinct module has resolved frustration.

The action generation object controls the hardware via the action generation object or the like. That is, the first to fourth CPC devices 20, 3 shown in FIG.
By controlling 0, 40, 50, for example, an operation using a limb, a head, a tail, etc., sound generation, LED blinking intervals, etc. are performed to express an emotion. Then, again, step ST12
Return to.

In this way, the emotion module notifies various objects of the emotion unit having the maximum emotion level among the emotion units whose emotion level has changed due to external information or internal change, thereby making it possible to perform various operations. It is possible to notify the action generation object of the state when the emotions are intricate with each other. The action generation object is
Based on the information from the emotion module, the first to fourth CPC devices 20, 30, 40, 50, which are hardware, are controlled via system software and OS.

As described above, in the robot device 1,
The emotion module contains information on the emotional unit with the highest emotional level when each emotion is intricately and organically related,
By notifying the action generation object, it is possible to realize an optimal emotional expression according to the situation at that time.

The robot device 1 has not only the emotion module that responds to the input from the outside world but also the instinct module that gradually increases the desire from inside. Therefore, a case of taking action based on the output of the instinct module will be described.

The instinct module may change the instinct level of each instinct unit due to the input of external information, or may change the instinct level itself over time.

First, the above-described recognition object is, as various sensor information of the first to fourth CPC devices 20, 30, 40, 50 shown in FIG. 1 which is hardware, for example, color information of an image by a color sensor. , Handles input information such as speaker sound information by the sound sensor and contact information by the contact sensor. When the recognition object recognizes the information to be notified, as shown in FIG. 6, the recognition object notifies the instinct module of the instinct / instinct model object of the information on the recognition result.

When information is input from the recognition object, the instinct module discriminates the type of information to be input (step ST21) as shown in FIG. 7, and uses parameters according to the input information. , The instinct level of each instinct unit is changed (step ST22). For example, in the instinct unit for appetite, as the battery becomes low, the instinct level increases and the desire for eating and drinking, for example, the charging request increases. The instinct module may also receive information output by an object that does not handle information from various sensors, such as information output by the action generation module or the action generation module after completing the desired action.
For example, when the end of intense exercise is notified, the instinct level of exercise desire is greatly attenuated.

The instinct module selects the instinct unit having the maximum instinct level among the instinct units having the instinct level exceeding the threshold value. The selected instinct unit notifies the information to the object requesting the output, for example, the action generation object. The object requesting output needs to register itself as an observer in the instinct module by an object-oriented observer pattern.

The action generation object controls the hardware via the action generation object or the like. That is, the first to fourth CPC devices 20, 3 shown in FIG.
0, 40, 50 are controlled. For example, the action generation object operates the limbs, the head, the tail, and the like so as to make a vigorous movement when the desire to exercise increases, and conversely to take a rest when the desire to rest increases. Express instinct.

On the other hand, when the time elapses, the instinct module executes the processing of step ST31 and thereafter shown in FIG.

In step ST31, the instinct module initializes the instinct level and parameters, and proceeds to step ST32.

In step ST32, the instinct module uses the timer of the LSI 14 to determine whether a certain time has elapsed. If the certain time has not elapsed, the instinct module waits in step ST32, and if the certain time has elapsed, waits for the certain time. It proceeds to step ST33.

In step ST33, the instinct module increases the instinct level of each instinct unit, and proceeds to step ST34. In addition, the magnitude of the increase is determined by the storage unit
3 determined by the increasing parameter stored.

In step ST34, the instinct module determines whether or not there is an instinct unit exceeding the threshold value, and if there is no such instinct unit, step ST32.
If there is such an instinct unit, go to step ST
Proceed to 35.

In step ST35, the instinct module selects the instinct unit having the maximum instinct level among the instinct units exceeding the threshold value, and in step ST36.
Proceed to.

In step ST36, the instinct module notifies the client module such as the action generation object of the information of the selected instinct unit. The selected instinct unit notifies the information to the object requesting the output, for example, the action generation object.

The action generation object controls the hardware as described above via the action generation object or the like, and returns to step ST32.

In this way, the instinct module notifies other objects of the information of the instinct unit having the maximum instinct level among the instinct units whose instinct level has changed due to external information or internal change, so that the instinct can be identified It is possible to notify the action generation object of the state when it rises. The action generation object uses the system software, O based on the information from the instinct module.
First to fourth CPCs that are hardware via S
By controlling the devices 20, 30, 40, 50, it is possible to realize the optimum instinctive expression according to the situation at that time.

As described above, although the emotion module and the instinct module operate based on information from various objects, they are independently controlled in parallel. This allows the robot apparatus 1 to naturally express a complicated psychological state in which emotions and instincts are mixed.

The robot device 1 also has a learning function. That is, as described above, the storage device 20
In 0, emotion parameters, instinct parameters, and the like, which are elements for changing the emotion level of each emotion unit and the instinct level of each instinct unit, are stored. When the robot apparatus 1 itself learns or grows, the learning object can change its character and behavior by rewriting various parameters of the storage device 200.

Further, the robot device 1 includes the communication device 3
It is possible to communicate with another robot device 1A (not shown) via 00. Specifically, the emotion module of the robot device 1 notifies the communication device 300 (for example, a wireless communication card) of the information of the emotion unit having the highest emotion level. The communication device 300 wirelessly transmits the information of the emotion unit to another robot device 1A designated in advance. As a result, the other robot device 1A can read the emotion of the robot device 1, and the emotional communication can be performed between the robot device 1 and the other robot device 1A.

As a result, for example, when the robot device 1 is angry, the other robot device 1A can act accordingly. Specifically, when the other robot apparatus 1A determines that it is breaking its territory, the robot apparatus 1 takes a barking action as shown in FIG. 9, for example, as an action corresponding to the anger. In addition, in response to this, the emotion level of the anger emotion unit of the robot apparatus 1 becomes high. At this time, the communication device 300 of the robot apparatus 1 transmits the emotion level of the anger emotion unit to the other robot apparatus 1A.

The other robot apparatus 1A which has received the anger feeling of the robot apparatus 1 takes an escaping action as shown in FIG. 9, for example, as a corresponding action. For example, the escape action taken by the other robot device 1A in this manner is performed by the other robot device 1A increasing its emotional level of fear or surprise in response to the anger sent from the robot device 1. It

As described above, the emotional communication can be performed between the robot apparatus 1 and the other robot apparatus 1A and an action corresponding to the communication can be performed, but the action is not limited to the above-described action. .

For example, when the robot apparatus 1 is pleased, the other robot apparatus 1A can take a delightful action accordingly. That is, the other robot device 1A that has received the joy emotion of the robot device 1 has its own joy emotion level increased according to the joy emotion transmitted from the robot device 1, and the joy action with the robot device 1 is performed. Take

Information of the instinct unit can be similarly transmitted from the robot device 1 to the other robot device 1A. As a result, the information of the instinct unit can be communicated between the robot devices to communicate with each other.

Further, not only communication between robot devices but communication with a so-called personal computer (PC) 400 may be performed as shown in FIG. That is, the PC can control the output of the emotion module of the robot apparatus 1 to cause an action according to the emotion.

Note that the communication is not limited to wireless communication, and wired communication may be used, and information about the emotion unit in the robot apparatus 1 is recorded in a recording medium such as a memory card. This is another robot device 1A
Of course, it may be attached to.

If the robot device 1 has the same interface, it can be used with an electronic pet in the virtual pet device described in Japanese Patent Application No. 10-030793 (Japanese Patent Laid-Open No. 11-126017). It becomes possible to communicate.

Further, in order to operate the robot apparatus 1 having the above hardware configuration, a recording medium such as a memory card is attached to the robot apparatus 1 and the control program recorded in the recording medium is installed. You may go by. The control program recorded on the recording medium is an OS such as shown in FIG.
A control program consisting of system software, middleware, and applications is applicable.

[0074]

The robot device according to the present invention is, in a robot device having an articulated drive unit, means for recognizing input information and holding a recognition object configured by an object-oriented design for notifying a recognition result, A means for holding an emotion model object configured by an object-oriented design for inputting a recognition result of a recognition object and changing an emotion level according to the input information, and the multi-joint based on information from the emotion model object By having a means for holding an action generation object configured by an object-oriented design that causes the robot apparatus to act by controlling the drive unit, it is possible to perform multiple operations based on information from the emotion model object that changes based on input information. Control the joint drive unit and make the robot act Door can be.

Further, the robot apparatus according to the present invention is a robot apparatus having an articulated drive unit, which holds a recognition object configured by an object-oriented design for recognizing an internal state and notifying a recognition result, Means for holding an instinct model object configured by an object-oriented design for inputting a recognition result of a recognition object and changing the instinct level according to the input information, and the multi-joint based on the information from the instinct model object By having a means for holding a behavior generation object configured by an object-oriented design that causes a robot apparatus to act by controlling a driving unit, an articulated model based on a value of an instinct model object that changes based on an internal state. The drive unit can be controlled to act.

Further, the behavior control method for a robot apparatus according to the present invention is the behavior control method for a robot apparatus having an articulated drive part, wherein a recognition result from a recognition object configured by object-oriented design and recognizing input information is The step of notifying the emotion model object configured by object-oriented design, the step of changing the emotion level according to the information of the recognition result of the recognition object input to the emotion model object, and the information from the emotion model object Based on the input information, the action generation object configured based on the object-oriented design has a step of causing the robot device to act by controlling the multi-joint driving unit. On the basis of,
The robot apparatus can be operated by controlling the articulated drive unit.

The behavior control method for a robot apparatus according to the present invention is the same as the behavior control method for a robot apparatus having an articulated drive part, wherein the recognition result from a recognition object which recognizes an internal state and is formed by object-oriented design is Informing the instinct model object configured by object-oriented design, changing the instinct level according to the information of the recognition result of the recognition object input to the instinct model object, and the information from the instinct model object Based on the above, the action generation object configured by the object-oriented design has a step of causing the robot apparatus to act by controlling the multi-joint driving unit, thereby making it possible to change the instinct model object based on the internal state of the robot apparatus. Articulated drive based on value It can be controlled to thereby conduct the robot apparatus.

[0078]

[0079]

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a robot apparatus to which the present invention is applied.

FIG. 2 is a diagram showing a configuration of a program for controlling the robot device.

FIG. 3 is a diagram for explaining a relationship between an emotion module and other objects.

FIG. 4 is a flowchart for explaining an operation when information is input to the emotion module from the outside.

FIG. 5 is a flowchart for explaining a state when the emotion module changes with the passage of time.

FIG. 6 is a diagram for explaining a relationship between an instinct module and another object or the like.

FIG. 7 is a flowchart for explaining an operation when information is input from the outside to the instinct module.

FIG. 8 is a flowchart for explaining a state when the instinct module changes with the passage of time.

FIG. 9 is a diagram for explaining a state when the robot device is communicating with another robot device.

FIG. 10 is a diagram for explaining a state when the personal computer controls emotions and actions of the robot device.

[Explanation of symbols]

1 robot device, 11 CPU, 14 LSI, 20
First CPC device, 30 Second CPC device, 40 Third CPC device, 50 Fourth CPC
Device, 200 storage device, 300 communication device

Continuation of front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) B25J 13/00 B25J 5/00

Claims (6)

(57) [Claims] 1. A robot apparatus having an articulated drive unit, which holds a plurality of recognition objects configured by an object-oriented design for recognizing input information and notifying a recognition result, and each of the plurality of recognition objects. Exchange information with each other
By inputting the above recognition result , multiple emotion parameters that change the emotion level according to the above recognition result can be set.
Having, in Rukoto constituted by object-oriented design
A means for holding a more modular emotion model object and mutual exchange of information with the emotion model object.
Based on information from the emotion model object by, and means for holding the behavior generation object constituted by an object-oriented design to act robotic device by controlling the multi-joint driving unit, the behavior generation Based on the output of the object
A robot apparatus having control means for controlling the joint drive section . 2. A robot apparatus having an articulated drive unit, which holds a plurality of recognition objects configured by object-oriented design for recognizing an internal state and notifying a recognition result, and each of the plurality of recognition objects. Exchange information with each other
By inputting the above recognition result , multiple instinct parameters that change the instinct level according to the above recognition result can be input.
Having, in Rukoto constituted by object-oriented design
A means for holding a more modular instinct model object and mutual information exchange with the above instinct model object.
Based on information from the instinct model object by, and means for holding the behavior generation object constituted by an object-oriented design to act robotic device by controlling the multi-joint driving unit, the behavior generation Based on the output of the object
A robot apparatus having control means for controlling the joint drive section . 3. A robot apparatus having an articulated drive section.
And recognize the input information or internal state and notify the recognition result.
Multiple recognition objects constructed by object-oriented design
Means for holding the-object, exchanges of each said plurality of recognition objects information to and
The above recognition result is input by doing
Multiple emotion parameters that change the emotion level according to
Having an object-oriented design
A more modular emotion model object, or
Interacts with each of the above multiple recognition objects.
By doing this, the above recognition result is input and the above recognition result
Multiple instinct parameters that change the instinct level according to the fruit
With an object-oriented design
An instinct model object modularized by
Means for holding the emotion model object or the instinct model object
Feelings by exchanging information with each other.
Based on information from model objects or above instinct
Based on the information from the model object, the above multi-joint
Actuate the robot by controlling the drive unit
Action generation object constructed by object-oriented design
And a means for holding the action, based on the output of the action generation object,
Characterized by having a control means for controlling the node drive section
Robot device. 4. A method of controlling a robot apparatus having a multi-joint driving unit is constituted by an object-oriented design recognizes input information
Mutually communicates with multiple recognition objects that notify the recognition result.
By the exchange of broadcast, the recognition result from said plurality of recognition objects, a step input to the emotion model object constructed by the object-oriented design, the recognition result of the recognition object is input to the emotion model object The process of changing the emotion level according to the information of the
By doing so, based on information from the emotion model object, a behavior generation object configured by object-oriented design controls the multi-joint drive unit to make the robot device act. Device behavior control method. 5. A control method for a robot apparatus having an articulated drive unit, which is constructed by object-oriented design to recognize an internal state.
Mutually communicates with multiple recognition objects that notify the recognition result.
By the exchange of broadcast, the recognition result from said plurality of recognition objects, a step input to the instinct model object constructed by the object-oriented design, the recognition result of the recognition object is input to the instinct model object The process of changing the instinct level according to the information of the
The action generating object configured by object-oriented design controls the articulated drive unit based on the information from the instinct model object, thereby causing the robot apparatus to act. Device behavior control method. 6. A control of a robot apparatus having an articulated drive section.
In the control method, the input information or internal
Multiple recognition objects that recognize states and notify recognition results
By exchanging information with each other,
Object-oriented design with recognition results from knowledge objects
Is input to the emotion model object composed by
Alternatively, the recognition results from the above-mentioned plurality of recognition objects are
Instinct model object constructed by object-oriented design
Process input to the emotion model object and the recognition object input to the emotion model object.
The emotion level is changed according to the information of the recognition result of the project.
Or, after being input to the above instinct model object
Instinct level according to the information of the recognition result of the recognition object.
And the emotion model object or the instinct model object.
Feelings by exchanging information with each other.
Based on information from model objects or above instinct
Based on the information from the model object, the above multi-joint
Actuate the robot by controlling the drive unit
Action control of a robot apparatus characterized by having a process
Way.