KR20160078678A - System and method for dancing robots by means of matching movement to music source based on one device - Google Patents

System and method for dancing robots by means of matching movement to music source based on one device Download PDF

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Publication number
KR20160078678A
KR20160078678A KR1020140188508A KR20140188508A KR20160078678A KR 20160078678 A KR20160078678 A KR 20160078678A KR 1020140188508 A KR1020140188508 A KR 1020140188508A KR 20140188508 A KR20140188508 A KR 20140188508A KR 20160078678 A KR20160078678 A KR 20160078678A
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South Korea
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information
robot
index
robots
terminal
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KR1020140188508A
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Korean (ko)
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장준영
윤수정
이창동
서현곤
인치호
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장준영
서현곤
인치호
윤수정
이창동
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Application filed by 장준영, 서현곤, 인치호, 윤수정, 이창동 filed Critical 장준영
Priority to KR1020140188508A priority Critical patent/KR20160078678A/en
Publication of KR20160078678A publication Critical patent/KR20160078678A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/003—Manipulators for entertainment
    • B25J11/0035—Dancing, executing a choreography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Toys (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a method and system for dancing a plurality of robots by matching a motion and a sound source using one terminal. The method and system are characterized in that a plurality of robots can be danced by using one terminal, A method and system for dancing a plurality of robots by matching a motion and a sound source using a single terminal having a feature of causing curiosity because the robot can be configured to operate in sequence and time, .

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and system for dancing a plurality of robots by matching a motion and a sound source using one terminal,

The present invention relates to a method and system for dancing a plurality of robots by matching a motion and a sound source using one terminal. The method and system are characterized in that a plurality of robots can be danced by using one terminal, A method and system for dancing a plurality of robots by matching a motion and a sound source using a single terminal having a feature of causing curiosity because the robot can be configured to operate in sequence and time, .

In recent years, with the development of technology, attention has been focused on robots, and various kinds of robots are being developed. As intelligent robots become more intelligent, there have been various developments, for example, pet robots, robots capable of humanoid walking and dancing.

However, the conventional dancing robot simply detects external stimuli (e.g., sound, touch, etc.) and dances in a preset dance motion. That is, the dance movement is set in advance and the dance is performed in a preset motion irrespective of the sound source.

For example, the music of a dance music source disclosed in Japanese Patent Laid-Open No. 10-2008-0075269 is stored in a memory, a dance sound source is shed according to a built-in sound source, Is dancing. However, such a robot toy has a problem that the user easily feels empirical because it is a relatively simple movement repetition such as swinging a hand or a foot, or opening / closing a hand, and the user can show a desired combination dance There is no problem.

Prior Art 1: Korean Patent Publication No. 10-2008-0075269

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a method of dancing various robots by matching motions of robots with various sound sources.

The present invention also provides a method for allowing a plurality of robots to dance.

On the other hand, the present invention is intended to provide a method for allowing each robot to perform different dances when a plurality of robots dance.

Furthermore, the present invention is intended to provide a method by which a robot can perform a dancing operation designated by a user at a desired time, rather than a simple repetitive operation.

In order to achieve the above object, there is provided a method for controlling a mobile terminal, comprising the steps of: (a) generating segment information by dividing a total play time of a sound source into one or more segments in a terminal; (b) (C) selecting at least one operation in the operation list storage unit stored in each robot to generate charge operation information for each robot, (d) (D) comparing the index of the operation start information received in the step (d) with the index of the charge operation information of the robot, and if the index matches, And performing a corresponding operation in a node, and a method and system for dancing a plurality of robots by matching an operation and a sound source using one terminal.

According to the present invention, the operation of a plurality of robots can be controlled through a single terminal, thereby causing curiosity.

In addition, according to the present invention, a user can freely select a configuration of an operation according to the characteristics of a sound source and a purpose of use, thereby causing no curiosity and inducing curiosity.

Furthermore, according to the present invention, since a plurality of robots can be simultaneously controlled, the robot can be used for performances and musicals.

1 is a flowchart illustrating a method and system for dancing a plurality of robots by matching an operation and a sound source using one terminal according to an embodiment of the present invention.
2 is a view showing a mechanical configuration of a method and system for dancing a plurality of robots by matching an operation and a sound source using one terminal according to an embodiment of the present invention.
3A is a diagram illustrating a method and system for dancing a plurality of robots by matching an operation and a sound source using one terminal according to an embodiment of the present invention.
FIG. 3B is a diagram illustrating a method and system for dancing a plurality of robots by matching an operation and a sound source using one terminal according to an embodiment of the present invention.
3C is a diagram illustrating a method and system for dancing a plurality of robots by matching an operation and a sound source using one terminal according to an embodiment of the present invention.
FIG. 3D is a diagram illustrating a method and system for dancing a plurality of robots by matching an operation and a sound source using one terminal according to an embodiment of the present invention.
FIG. 3E is a diagram illustrating a method and system for dancing a plurality of robots by matching an operation and a sound source using one terminal according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The sizes and shapes of the components shown in the drawings may be exaggerated for clarity and convenience. In addition, terms defined in consideration of the configuration and operation of the present invention may be changed according to the intention or custom of the user, the operator. Definitions of these terms should be based on the content of this specification. It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the inventions. Of course.

FIG. 1 illustrates a method and system for dancing a plurality of robots by matching an operation and a sound source using one terminal according to an embodiment of the present invention. Referring to FIG. Hereinafter, with reference to FIG. 1, reference will be made to the drawings shown in FIGS. 3A to 3E, which are not shown in detail in FIG.

A method and system for dancing a plurality of robots by matching an operation and a sound source using one terminal according to an embodiment of the present invention includes the steps of: (a) dividing a total play time of a sound source into one or more nodes in a terminal 100, (B) mapping the index 450 of the operation information 400 for each node on the basis of the node information 300 obtained in the step (a), thereby generating the operation start information 500 (C) selecting one or more operations in the operation list storage unit 220 stored in each robot 200 to generate charge operation information 600 for each robot 200; (d) transmitting the operation start information 500 generated by the terminal 100 to each robot 200, and (e) transmitting an index 450 of the operation start information 500 received in the step (d) (450) of the charge operation information (600) of the mobile terminal (200) are matched, and if the indexes (450) And performing the corresponding operation in the current node.

A method and system for dancing a plurality of robots by matching an operation and a sound source using one terminal according to an embodiment of the present invention is characterized in that a plurality of robots 200 are operated and danced by using one terminal 100 . In addition, since the operation of the robot 200 is stored in advance in the robot 200, it is possible to change various operations according to the user's setting each time, rather than simply performing a repetitive operation. The present invention constitutes a dance stage composed of robots 200 capable of performing various dances according to the characteristics of music and the taste of the user, so that the audience or the user can be interested.

1 and 3A, in step (a), the terminal 100 separates the total play time of the sound source into one or more segments to generate the segment information 300, A step of dividing the total play time of the sound source into a desired segment and storing the segment information 300 in the storage unit 120. In detail, the controller 110 provided in the terminal 100 acquires the total play time of the sound source, separates the total play time into a desired number of bars, and separates the bars into a desired number of bars. And stores them in the storage unit 120. [ In addition, the generated node information 300 includes the order of the nodes to be separated and the time information of the node. Meanwhile, in the present invention, a desired number of nodes are input to divide a sound source into a corresponding number. However, it is needless to say that a user can input a desired time and divide it into segments having a corresponding time. Also, the nodes need not necessarily be nodes having the same time, but may be configured with nodes having different times for each node.

In other words, the user can store the bars separated by the desired number of bars. However, if the beat of the sound source is not used, the desired time can be input and separated into bars having the corresponding time. It is possible to store the node information 300 by separating it into a desired node. In addition, the generated nodal information 300 has the order of the nodal order as in the order of the existing sound sources, and the corresponding nodal includes the respective time information.

Referring to FIGS. 1 and 3B, in operation (b), the index 450 of the operation information 400 is mapped for each node based on the node information 300 obtained in the step (a) (Step 450) of generating a motion start information 500 by mapping an index 450 of motion information 400 to be executed by the robot 200 for each node. At this time, the index 450 of the operation information 400 input to the operation start information 500 is selected and mapped to one or more of the indexes 450 stored in the operation list storage unit 220 of the robot 200 . That is, when the index 450 is mapped to the operation start information 500 and transmitted to the robot 200, the index 450 is matched with the index 450 stored in the operation list storage unit 220 of the robot 200, The robot 200 performs the operation of the corresponding operation information 400. When two or more indexes 450 are mapped to one operation start information 500, The other operation information 400 can be executed and various dances can be performed. The index 450 is a code of the operation information 400 stored in the robot 200. Since the source of the operation information 400 is stored in the operation list storage unit 220 of the robot 200, Only the index 450 is transmitted without matching the operation information 400 to be transmitted. In this case, mapping means to combine information and information, and if mapping A and B, it means that the result having attribute information of both A and B comes out. At this time, the operation information includes a source containing instructions for moving the robot.

That is, in operation (b), the operation start information 500 is generated. In operation (b), the operation information 400 for the robot 200 is operated for each node of the node information 300, ) To generate operation start information (500).

In addition, in step (b), in addition to the operation start information 500, the peripheral device 250 further generates peripheral operation information 460 that causes the peripheral device 250 to operate in response to the node information 300. [ The peripheral operation information 460 includes a source from which various peripheral devices such as a light emitting diode of the robot 200, external illumination, and effect sound can be operated. In detail, the peripheral operation information 460 is generated by mapping a peripheral operation source for each node based on the node information 300, so that the peripheral device 250 can generate peripheral operation information corresponding to the node information 300, The device 250 has the feature that it is actuated and changed.

That is, the peripheral operation information 460 is generated by mapping a peripheral operation source for each node on the basis of the node information 300, and the operation start information 500 is generated based on the node information 300, 400) is generated by mapping.

Referring to FIGS. 1 and 3C, in operation (c), one or more pieces of operation information 400 are selected in the operation list storage unit 220 stored in each robot 200, The operation information 600 may be generated by selecting one or more pieces of operation information 400 among the pieces of operation information 400 stored in the operation list storage unit 220 of the robot 200, (600). In detail, the operation list 400 of the various operations that the robot 200 can perform is stored in the operation list storage unit 220 of the robot 200, And selecting the operations to be performed by the robot 200 in consideration of the overall operation configuration of the robot 200 and generating the responsible operation information 600. [

For example, 100 pieces of operation information 400 are stored in the operation list storage unit 220 of the robot 200. If the user selects 10 pieces of the 100 pieces of operation information 400, Only the ten kinds of operation information 400 selected are executed.

That is, the user selects the desired operation information 400 among the operation list storage unit 220 and selects the corresponding operation information 600 in consideration of the characteristics of the sound source such as the beat and the overall operation configuration of the robots 200 operating together And only the operation information 400 stored in the charge operation information 600 is executed. Therefore, various dancing configurations can be created according to the user's environment and purpose. In addition, since separate charge information 600 can be generated for each of the plurality of robots 200, the robots 200 are capable of dancing in an organically delicate configuration.

Referring to FIG. 1 and FIG. 3, step (d) includes transmitting operation start information 500 generated by the terminal 100 to each robot 200, 400 is transmitted to a plurality of robots 200 through the first communication unit 130 of the terminal 100 at the same time. At this time, ZIGBEE or BLUETOOTH is used as the transmission method of the present invention. In addition, the operation start information 500 can separate the operation information 400 mapped for each node and send the operation start information 500 corresponding to each node continuously in the order of each node for a predetermined time, It is most preferable to transmit the operation start information 500 to all of the plurality of robots 200 at one time because transmission to an external element may be interrupted during transmission. In operation (d), the peripheral operation information 460 generated in operation (b) is transmitted to the robot 200 and the peripheral device 250. At this time, when the operation start information 500 is transmitted to the robot 200, it is preferable that the peripheral operation information 460 is simultaneously transmitted.

Referring to FIGS. 1 and 3E, step (e) includes the step 450 of the operation start information 500 transmitted in step (d) and the index 450 of the charge operation information 600 of the robot 200 And each of the robots 200 receives the operation information 400 for each node from the terminal 100 through the second communication unit 230. When the operation information 400 is matched with the index 450, The operation start information 500 is mapped with the index 450 of the operation information 400 stored in the charge operation information 600 of each robot 200 It is determined whether or not the indexes 450 coincide with each other, and if the indexes 450 match, the operation information 400 of the corresponding index 450 is executed. If the index 450 of the operation information 400 stored in the charge operation information 600 of the robot 200 does not match the index 450 of the received operation start information 500, The operation is stopped at the corresponding node. That is, the robot 200 having the index 450 mapped to the node and the index 450 of the operation information 400 stored in the charge information 600 coincide with each other operates by executing the corresponding operation information 400 And indexes 450 do not coincide with each other, the robot 200 stops at the corresponding node, so that the plurality of robots 200 can perform various operations instead of always performing the same operation, If the index 450 of the index is inconsistent, the node waits at the node. This is characterized by the fact that it is possible to express dance composed of various movements in a more constructive manner, thereby causing curiosity.

In addition, when the index 450 of the charge operation information 600 and the index 450 of the received operation start information 500 are equal to or more than two, only one selected operation is executed. In this case, there are a variety of methods for selecting one of the operations. For example, if the user selects one of the operation information 400 among the operation information 400 of the operation list storage unit 220 stored in the robot 200, An example in which the operation information 400 having a higher priority is executed when the indexes 450 coincide with two or more of them.

Meanwhile, the peripheral device receives the peripheral operation information 460 transmitted in the step (e) and receives the peripheral operation source signal included in the peripheral operation information 460 to operate. Here is an example.

When the robot 200 receives the operation start information 500 and executes the operation information 400, the peripheral device 250 such as an illumination and a speaker receives the peripheral operation information 460 and executes the same . At this time, since the peripheral operation information 460 is generated based on the nodal information 300, the peripheral device 250 such as a light and a speaker operated by the peripheral operation information 460 is operated in association with the dancing in the robot .

Referring to FIG. 2, a humanoid robot platform is configured by a robot 200 of a method and system for dancing a plurality of robots by matching an operation and a sound source using one terminal according to an embodiment of the present invention. An operation means for operating each joint is provided to enable multi-joint operation, and the robot controller is configured to control each operation means. A mechanical limit value of the operation means and an operation limit value in accordance with the humanoid are set so as to operate with the operation limit.

A method and system for dancing a plurality of robots by matching an operation and a sound source using one terminal according to an embodiment of the present invention can be provided as a PC and a smart portable terminal, A control unit 110, a storage unit 120, and a first communication unit 130.

The control unit 110 included in the terminal 100 may divide the total play time of the selected sound source into a plurality of segments according to the user's selection. In detail, the total play time of the sound source can be divided by the number of the nodes or separated by the time of the node. In addition, the node is separated into the node information 300 and stored in the storage unit 120 provided in the terminal 100. The control unit 110 may generate the operation start information 500 by mapping the operation information 400 for each node on the basis of the node information 300 about the operations to be performed by the robot 200, The information 500 is stored in the storage unit 120. The storage unit 120 stores an index 450 of an operation list stored in the operation list storage unit 220 of the robot 200 so that the control unit 110 stores operation information 400 in the node. And the index 450 of FIG. The first communication unit 130 uses ZIGBEE or BLUETOOTH to transmit the operation start information 500 of the terminal 100 to the second communication unit 230 of the robot 200. ZIGBEE or BLUETOOTH is a known technology A detailed description will be omitted.

A robot 200 of a method and system for dancing a plurality of robots by matching an operation and a sound source using one terminal according to an embodiment of the present invention includes an operation list storage unit 220, an operation control unit 210, A second communication unit 230 is provided.

The operation list storage unit 220 stores various operation information 400 on which the robot 200 can operate. The user selects the operation information 400 to be executed by the robot 200 among the operation information 400 stored in the operation list storage unit 220 and generates and stores the corresponding operation information 600.

The operation control unit 210 displays the charge operation information 600 in which the operation information 400 to be operated by the robot 200 is stored and the index 450 mapped to the operation start information 500 received in the terminal 100 It is determined whether or not they coincide with each other. If the index 450 of the operation information 400 mapped to the received operation start information 500 matches two or more operations stored in the operation information 400, Only one operation is performed in accordance with an arbitrary selection of " On the other hand, if the index 450 mapped to the operation start information 500 received by the terminal 100 does not match the index 450 of the charge operation information 600 of the robot 200, the robot 200 ) Will stop from that node to the next node.

The second communication unit 230 receives the operation start information 500 transmitted from the first communication unit 130 of the terminal 100 and uses ZIGBEE or BLUETOOTH like the first communication unit 130.

3A to 3E, in order to facilitate understanding of a method and system for dancing a plurality of robots by matching an operation and a sound source using one terminal according to an embodiment of the present invention, an example will be described as follows .

The user seeks to organize the dances of the robots 200 in various ways by dividing the source file having a length of 100 seconds into 10 segments.

In step (a), a sound source file having a length of 50 seconds on a PC is divided into five segments, and the segment is divided into five segments in order of a first segment, a second segment, a third segment, a fourth segment, Information 300 is generated.

the operation start information 500 is generated by sequentially mapping the operation indexes 450 of E, B, C, A, and D to each node having a time of 10 seconds.

various operation information 400 such as A, B, C, D, E, F, G and the like are respectively transmitted to the first robot 200, the second robot 200 and the third robot 200 in step (c) D operation information 400 to the first robot 200 and C and D operation information 400 to the second robot 200 with the operation information 400 desired by the user stored in the list storage unit 220, (400) and the B and D operation information (400) to the third robot (200), respectively, to generate charge operation information (600).

(d), the user transmits the operation start information 500 to the first robot 200, the second robot 200, and the third robot 200 once in the PC.

the operation control unit 210 of the robot 200 transmits operation start information 500 mapped in order of E, B, C, A and D for each node to the robot 200, The index 450 of the received operation start information 500 is matched with the index 450 of the received operation start information 500 to determine whether the index 450 of the received operation start information 500 coincides with each other. Then, it is judged whether or not the indexes 450 are matched with each other. The judgment result is as follows.

The index of the operation information 600 of the first robot 200, the second robot 200 and the third robot 200 is mapped to the index 450 of the E operation information 400, And all the robots 200 do not operate and stop.

Since the second node corresponds to the index 450 of the charge operation information 600 stored in the third robot 200 because the index 450 of the B operation information 400 is mapped to the third robot 200, The first robot 200 and the second robot 200 execute the operation information 400 such that the index 450 of the B operation information 400 does not coincide with the index 450 of the charge operation information 600 Therefore, it is a section that stops at that node and stops.

Since the index 450 of the C operation information 400 is mapped to the third node and the index 450 matches only the charge operation information 600 of the second robot 200, Only the C operation information 400 is executed.

Since the index 450 of the A motion information 400 is mapped and the index 450 corresponds to only the in-charge operation information 600 of the first robot 200, only the first robot 200 transmits A The operation information 400 is executed.

The fifth segment is an index 450 of the D operation information 400 and is an index of the operation information 600 of the first robot 200, the second robot 200 and the third robot 200 450 are all coincident with each other, all the robots 200 execute the D operation information 400.

That is, as described above, the user can select each of the motions for the plurality of robots 200 in consideration of the conditions such as the characteristics of the beat of the sound source and the purpose of the performance, etc., However, since the user can select the desired action to dance, there is a characteristic that the user can have a more diversified composition of dance, which causes curiosity.

It will be apparent to those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof.

100: terminal 110:
120: storage unit 130: first communication unit
200: robot 210: operation controller
220: operation list storage unit 230: second communication unit
250: Peripheral device 300: Node information
400: operation information 450: index
460: peripheral operation information 500: operation start information
600: Responsible action information

Claims (7)

A method for dancing a plurality of robots (200) through various operations, which are arbitrarily selected, using one terminal (100)
(a) separating the total play time of the sound source in the terminal 100 into one or more segments to generate the segment information 300;
(b) generating operation start information (500) by mapping an index (450) of operation information (400) for each node based on the node information (300) obtained in step (a);
(c) selecting at least one operation information (400) in an operation list storage unit (220) stored in each robot (200) and generating charge operation information (600) for each robot (200);
(d) transmitting operation start information (500) generated in the terminal (100) to each robot (200); And
(e) The index 450 of the operation start information 500 transmitted in the step (d) is matched with the index 450 of the charge operation information 600 of the robot 200, And executing the corresponding operation information (400) in the corresponding node if it is matched. The method of dancing a plurality of robots by matching an operation and a sound source using one terminal.
The method according to claim 1,
the peripheral device 250 transmits the peripheral operation information 460 for allowing the peripheral device 250 to operate in correspondence with the node information 300 from the terminal 100 to the peripheral device 250 in step (d) A method of matching a motion and a sound source to dance a plurality of robots.
The method according to claim 1,
wherein the operation information (400) mapped to each node in the step (b) is one or more operation information (400), and the plurality of robots are danced by matching operation and sound source using one terminal.
The method of claim 3,
only one selected index 450 is executed when the index 450 of the operation start information 500 and the index 450 of the charge operation information 600 transmitted in the step (e) A method for dancing a plurality of robots by matching a motion and a sound source using a single terminal.
The method according to claim 1,
the index 450 of the operation start information 500 transmitted in the step (e) is matched with the index 450 of the charge operation information 600 of the robot 200 and if the indexes 450 do not coincide with each other And the robot (200) stops at the corresponding node. The method of dancing a plurality of robots by matching an operation and a sound source using one terminal.
The method according to claim 1,
wherein the terminal 100 is a portable terminal or a computer in step (a), wherein a plurality of robots are danced by matching an operation and a sound source using one terminal.
A control unit 110 for generating the node information 300 and generating operation start information 500 by mapping the index 450 of the operation information 400 based on the node information 300, 500), and a first communication unit (130) for transmitting the operation start information (500); And
A first communication unit 130 receiving operation start information 500 transmitted from the first communication unit 130, an operation list storage unit 220 storing a plurality of pieces of operation information 400, The index 450 of one or more pieces of operation information 400 is generated to generate the charge operation information 600 and the index 450 of the received operation start information 500 and the charge operation information 600 And an operation control unit (210) for matching the indexes (450) and determining whether they match or not. The mobile terminal (100) according to claim 1, wherein the plurality of robots system.
KR1020140188508A 2014-12-24 2014-12-24 System and method for dancing robots by means of matching movement to music source based on one device KR20160078678A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106054756A (en) * 2016-08-18 2016-10-26 成都英博格科技有限公司 Robot control method and device
WO2019103297A1 (en) * 2017-11-27 2019-05-31 엘지전자 주식회사 Mobile terminal, and music play-back system comprising mobile terminal
CN114378823A (en) * 2022-01-20 2022-04-22 深圳市优必选科技股份有限公司 Robot action control method and device, readable storage medium and robot

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20080075269A (en) 2007-02-12 2008-08-18 (주)아이티시에스 Humanoid robot for dancing

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20080075269A (en) 2007-02-12 2008-08-18 (주)아이티시에스 Humanoid robot for dancing

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106054756A (en) * 2016-08-18 2016-10-26 成都英博格科技有限公司 Robot control method and device
WO2019103297A1 (en) * 2017-11-27 2019-05-31 엘지전자 주식회사 Mobile terminal, and music play-back system comprising mobile terminal
CN114378823A (en) * 2022-01-20 2022-04-22 深圳市优必选科技股份有限公司 Robot action control method and device, readable storage medium and robot
CN114378823B (en) * 2022-01-20 2023-12-15 深圳市优必选科技股份有限公司 Robot action control method and device, readable storage medium and robot

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