WO2017199565A1

WO2017199565A1 - Robot, robot operation method and program

Info

Publication number: WO2017199565A1
Application number: PCT/JP2017/010467
Authority: WO
Inventors: 中村　珠幾; 裕介栗本; 貴之毛利; 慎哉佐藤; 佐藤　義雄
Original assignee: シャープ株式会社
Priority date: 2016-05-20
Filing date: 2017-03-15
Publication date: 2017-11-23
Also published as: CN109195754A; JPWO2017199565A1

Abstract

In this robot (1), a first general-purpose operation (30A) starts in a reference pose (32) and ends in the reference pose (32), and a second general-purpose operation (30B) starts in the reference pose (32) and ends in the reference pose (32); a control unit (10) controls continuous operation (30) by combining and continuously reproducing the first general-purpose motion data for the first general-purpose operation (30A) and second general-purpose motion data for the second general-purpose operation (30B).

Description

Robot, robot operation method, and program

The present invention relates to a robot that continuously executes a plurality of operations, a robot operation method, and a program.

As a conventional robot that continuously executes a plurality of operations, for example, a robot disclosed in Patent Document 1 can be cited.

In the robot disclosed in Patent Document 1, the higher-level operation program includes a middle-level operation routine that defines the basic operation of the robot. The intermediate operation routine is configured as a collection of part operation modules that define the operation for each robot part. Also, a standard operation routine that defines a predetermined standard basic operation is prepared by combining a plurality of part operation modules. Then, an appropriate standard motion routine is selected, and a middle motion routine is created by deleting or replacing a specific body motion module and / or adding a new body motion module. .

Accordingly, it is possible to provide a robot that can easily create or rewrite a middle-level operation routine to cope with the addition of a new basic operation and a partial change of an existing basic operation. it can.

Japanese Patent Publication “JP 2000-153479 A (published on June 6, 2000)” Japanese Patent Publication “Patent No. 4696361 (Registered on March 11, 2011)”

However, in the robot system disclosed in Patent Document 1, the intermediate motion routine is configured by combining predetermined part motion modules. For this reason, there is a problem that a sense of incongruity may occur in the operation of the robot at the connection point between the intermediate operation routine and the subsequent intermediate operation routine.

In the robot disclosed in Patent Document 2, a plurality of transition states representing a posture and a motion that transition between a certain posture and motion to a target posture and motion are prepared. Based on the emotion model that expresses emotion in the robot motion and the instinct model that expresses instinct in the robot motion, the transition state to be routed is optimally selected from the plurality of transition states and set as the target. Transition to posture and motion. This provides a robot that autonomously performs natural actions based on emotion and instinct.

However, in the robot disclosed in Patent Document 2, the posture difference between the posture in the transition state and the posture in the transition source state, and the posture between the posture in the transition state and the posture in the transition destination state Differences are not taken into account. For this reason, if the posture difference is large, there is a problem in that a sense of incongruity occurs at the joint of the robot movement.

The present invention has been made in view of the above-described problems, and an object of the present invention is to realize a robot, a robot operation method, and a program in which a sense of incongruity does not occur at the joint between operations.

In order to solve the above problems, a robot according to an aspect of the present invention includes a movable unit that executes a continuous operation in which a first general-purpose operation and a second general-purpose operation are continuous, and a control unit that controls the continuous operation. The first general-purpose operation starts with a reference pose, then the first operation is executed and ends with the reference pose, and the second general-purpose operation starts with the reference pose and then executes a second operation. The control unit ends at the reference pose, and the control unit continuously reproduces the first general-purpose motion data for the first general-purpose operation and the second general-purpose motion data for the second general-purpose operation. It is characterized by controlling continuous operation.

According to one aspect of the present invention, it is possible to realize a robot, a robot operation method, and a program that do not cause a sense of incongruity between joints.

It is a block diagram which shows schematic structure of the robot which concerns on embodiment of this invention. It is a flowchart which shows an example of the flow of operation | movement of the robot shown in FIG. It is a timing chart which shows an example of operation | movement of the robot which concerns on Embodiment 1 of this invention. (A) is a timing chart which shows an example of the audio | voice and operation | movement of a robot which concerns on Embodiment 2 of this invention, (b) is a timing chart which shows another example of the audio | voice and operation | movement of a robot. (A) is a timing chart which shows an example of the voice and operation | movement of a robot in case the emotion of the robot which concerns on Embodiment 3 of this invention is sadness, (b) is a case where the emotion of a robot is joy It is a timing chart which shows an example of the voice and operation | movement of this robot. It is a timing chart which shows an example of operation of the robot concerning Embodiment 4 of the present invention. (A) is a schematic diagram which shows an example of the operation | movement in the state of the upright posture of the robot which concerns on Embodiment 5 of this invention, (b) is a schematic diagram which shows an example of the operation | movement in the state which the robot sat down. is there.

[Embodiment 1]
Hereinafter, embodiments of the present invention will be described with reference to FIGS. 1 to 3 as follows.

Schematic configuration of the robot in the present embodiment will be described based on FIG. FIG. 1 is a block diagram showing a schematic configuration of the robot according to the present embodiment.

As shown in FIG. 1, the robot in this embodiment includes a sensor 2, a control unit 10, a storage unit 20, a voice output unit 3 (speech unit), a drive unit 4, and a movable unit 5. The control unit 10 includes an utterance trigger unit 11, an utterance content determination unit 12, an audio output control unit 13, a drive control unit 14 (control unit), and a start / end posture determination unit 15. The storage unit 20 includes an utterance content table 21 and a motion data table 22. The movable part 5 includes an arm part 6 (first part) and a foot part 7 (second part).

The sensor 2 senses, for example, sound, light, electrical signals, and contact from the outside of the robot 1, converts them into information, and transmits the information to the utterance trigger unit 11.

The utterance trigger unit 11 receives information from the sensor 2 and transmits the information to the utterance content determination unit 12.

The utterance content determination unit 12 receives information from the utterance trigger unit 11. The utterance content determination unit 12 selects and acquires utterance content data from the utterance content table 21 based on the information. The utterance content determination unit 12 transmits the utterance content data acquired from the utterance content table 21 to the voice output control unit 13 and the drive control unit 14.

The voice output control unit 13 receives the utterance content data from the utterance content determination unit 12. The voice output control unit 13 causes the voice output unit 3 to output voice based on the utterance content data received from the utterance content determination unit 12.

The drive control unit 14 receives the utterance content data from the utterance content determination unit 12. The drive control unit 14 selects and acquires a plurality of general-purpose motion data from the motion data table 22 based on the utterance content data received from the utterance content determination unit 12.

General-purpose motion refers to what constitutes a series of motions in combination with other general-purpose motions.

The drive control unit 14 may select one general-purpose motion data from the motion data table 22. Based on the utterance content data received from the utterance content determination unit 12, the drive control unit 14 determines which general-purpose motion data is to be reproduced in what order and timing.

The drive control unit 14 transmits the general-purpose motion data acquired from the motion data table 22 and the playback order and timing data of the general-purpose motion data to the start / end posture determination unit 15. The start / end posture determination unit 15 determines the posture of the robot 1 at the start and end of continuous operation from the general-purpose motion data received from the drive control unit 14 and the order and timing data of the general-purpose motion data to be reproduced. The continuous operation is an operation based on data obtained by combining a plurality of general-purpose motion data. The start / end posture determination unit 15 transmits the posture data of the robot 1 at the start and end of the continuous operation to the drive control unit 14.

The drive control unit 14 supplies the drive unit 4 with general-purpose motion data, the order and timing of playback of the general-purpose motion data, and the attitude data of the robot 1 at the start and end of continuous operation.

That is, the drive control unit 14 selects and acquires a plurality of general-purpose motion data for the utterance content data. In addition, the drive control unit 14 transmits the plurality of general-purpose motion data, the order and timing of reproducing the plurality of general-purpose motion data, and the posture data of the robot 1 at the start and end of the continuous operation to the drive unit 4.

The drive unit 4 is based on the plurality of general-purpose motion data received from the drive control unit 14, the order and timing of reproduction of the plurality of general-purpose motion data, and the posture data of the robot 1 at the start and end of continuous operation. The arm part 6 and the foot part 7 of the movable part 5 are operated. Moreover, the movable part 5 may be provided with things other than the arm part 6 and the foot part 7.

The motion data table 22 describes a plurality of general-purpose motion data candidates that start with a reference pose and end with the same reference pose as the start pose. The reference pose is a state in which the movable part 5 is driven to a predetermined position. For example, as shown in Table 1 below, general motion data candidates 1 to 10 are stored in the motion data table 22. The general-purpose motion data candidates 1 to 10 have different operation contents and different playback times. That is, general motion data candidates may be prepared for each reproduction time. For example, a general motion data candidate with a playback time of 1 second and a general motion data candidate with a playback time of 1.5 seconds.

Also, as shown in Table 2 below, the motion data table 22 may store general-purpose motion data for each type of operation. For example, as shown in Table 2, a table is prepared in which general motion data candidates 1 to 10 representing general motions that execute a predetermined motion from an upright posture state and return to the upright posture state again are described. In addition, a table is prepared in which general motion data candidates 11 to 20 representing general motions from a standing posture state to a posture state in which the head is bent are described. Further, a table in which general motion data candidates 21 to 30 representing general-purpose motions that perform a predetermined operation from the state of the posture of raising the neck and return to the state of the posture of raising the neck again is prepared.

The operation flow of the robot 1 in this embodiment will be described with reference to FIG. FIG. 2 is a flowchart showing an example of the flow of the operation of the robot 1 shown in FIG. 1 (the operation method of the robot).

First, the utterance trigger unit 11 receives information from the sensor 2 (step S1).

Subsequently, the utterance content determination unit 12 acquires the utterance content data and the length of the utterance time from the utterance content table 21 based on the information received from the sensor 2 by the utterance trigger unit 11, and the voice output control unit 13 and the drive. It transmits to the control part 14 (step S2).

Subsequently, the drive control unit 14 determines whether there is general-purpose motion data matching the utterance content in the motion data table 22 (step S3). Specifically, the drive control unit 14 refers to the motion data table 22 based on the utterance content data received from the utterance content determination unit 12, and determines whether there is general-purpose motion data that matches the utterance content.

Subsequently, if there is general-purpose motion data matching the utterance content (YES in step S3), a plurality of general-purpose motion data corresponding to the utterance time are selected from the motion table matching the utterance content in the motion data table 22 (step S3). S4). Specifically, the motion data table 22 has a motion data table for each utterance content, and the drive control unit 14 selects a plurality of general-purpose motion data from the motion data table for each utterance content. As the motion data table for each utterance content, for example, a motion data table such as a sadness motion data table and a pleasure motion data table may be prepared.

If there is no general-purpose motion data matching the utterance content (NO in step S3), the drive control unit 14 selects a plurality of general-purpose motion data for the utterance time from the motion data table 22 (step S5). Specifically, the drive control unit 14 selects a plurality of general-purpose motion data from the motion data table 22 so as to match the speech time.

Subsequently, the playback of the general-purpose motion data is also started in order at the same time when the utterance is started (step S6). Specifically, the audio output control unit 13 issues an audio output instruction to the audio output unit 3, and the drive control unit 14 issues an instruction to drive the movable unit 5 to the drive unit 4.

The continuous operation of the robot 1 in the present embodiment will be described with reference to FIG. FIG. 3 is a timing chart showing an example of the operation of the robot 1 according to the first embodiment of the present invention.

As shown in FIG. 3, the robot 1 in the present embodiment performs, for example, a continuous operation 30 that combines a first general-purpose operation 30A and a second general-purpose operation 30B. In FIG. 3, the right direction is time.

1st general purpose operation | movement 30A is operation | movement by the 1st general purpose motion data selected by the drive control part 14 from the motion data table 22 shown in FIG. The second general-purpose operation 30B is an operation based on second general-purpose motion data selected by the drive control unit 14 from the motion data table 22.

The first general-purpose operation 30A starts with the reference pose 32, then executes the first operation 31A, and ends with the reference pose 32. The second general-purpose operation 30 </ b> B starts at the reference pose 32, then executes the second operation 31 </ b> B, and ends at the reference pose 32.

Thus, no matter how the first general-purpose operation 30A and the second general-purpose operation 30B are combined, the reference pose 32 is connected at the joint between the first general-purpose operation 30A and the second general-purpose operation 30B. Therefore, it is possible to prevent the robot 1 from feeling uncomfortable.

Also, the difference between the end pose 33 of the first action 31A and the reference pose 32 is smaller than the difference between the end pose 33 of the first action 31A and the start pose 34 of the second action 31B.

As a result, the difference between each pose is greater when the reference pose 32 is provided between the first action 31A and the second action 31B than when the first action 31A and the second action 31B are directly combined. Get smaller. Therefore, the operation of the robot 1 becomes natural and it is possible to prevent the robot 1 from feeling uncomfortable.

The continuous operation 30 may be formed by combining a plurality of first general-purpose operations 30A and second general-purpose operations 30B. For example, only a plurality of first general-purpose operations 30A may be combined, only a plurality of second general-purpose operations 30B may be combined, or first general-purpose operations 30A and second general-purpose operations 30B may be combined alternately. Further, the first general-purpose operation 30A and the second general-purpose operation 30B may be combined apart.

Moreover, the movable part 5 performs the continuous operation | movement 30 in which the 1st general purpose operation | movement 30A and the 2nd general purpose operation | movement 30B continue as mentioned above (movable process). The drive control unit 14 controls the continuous operation 30 in which the first general operation 30A and the second general operation 30B are combined (control process). Specifically, the drive control unit 14 continuously reproduces a combination of the first general-purpose motion data for the first general-purpose operation 30A and the second general-purpose motion data for the second general-purpose operation 30B. 30 is controlled. The first general motion data is data for executing the first general operation 30A, and the second general motion data is data for executing the second general operation 30B.

Furthermore, the drive control unit 14 selects the first general-purpose motion data and the second general-purpose motion data from a plurality of general-purpose motion data candidates in the motion data table 22 according to the content of the sound output from the sound output unit 3. Combine.

As described above, the robot 1 according to the present embodiment includes the movable unit 5 that executes the continuous operation 30 in which the first general operation 30A and the second general operation 30B are continuous, and the control unit 10 that controls the continuous operation 30. . The first general operation 30A starts at the reference pose 32, then the first operation 31A is executed and ends at the reference pose 32. The second general operation 30B starts at the reference pose 32, and then the second operation 31B is executed. Execute and end with reference pose 32. Further, the reference pose 32 is a pose in which the difference between the end pose 33 of the first action 31A is smaller than the difference between the end pose 33 of the first action 31A and the start pose 34 of the second action 31B. . The control unit 10 controls the continuous operation 30 by continuously reproducing the first general-purpose motion data for the first general-purpose operation 30A and the second general-purpose motion data for the second general-purpose operation 30B.

According to the above configuration, the joint between the first general-purpose operation 30A and the second general-purpose operation 30B can be connected without a sense of incompatibility regardless of the order in which the first general-purpose motion data and the second general-purpose motion data are reproduced.

In addition, the robot 1 according to the present embodiment includes an audio output unit 3 that outputs audio, and a motion data table 22 in which a plurality of general-purpose motion data candidates that start at the reference pose 32 and end at the reference pose 32 are described. ing. Further, the control unit 10 selects the first general-purpose motion data and the second general-purpose motion data from the plurality of general-purpose motion data candidates in the motion data table 22 according to the content of the sound output from the sound output unit 3. combine.

According to the above configuration, even in a state where only a limited number of general-purpose motion data is held, it is possible to cause the robot to perform various motions appropriate for the utterance content. In other words, by reproducing the combination of general-purpose motion data, even a robot that makes a huge amount of utterances can operate according to the utterance content simply by preparing a certain amount of general-purpose motion data.

[Embodiment 2]
The following will describe another embodiment of the present invention with reference to FIG. For convenience of explanation, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted.

The robot 1 according to the second embodiment operates by combining a plurality of first general-purpose operations 41 according to the voice 40 as shown in FIG. Alternatively, it operates by combining the first general-purpose operation 42 and the second general-purpose operation 43 according to the voice 40. 4A is a timing chart showing an example of the voice and operation of the robot according to Embodiment 2 of the present invention, and FIG. 4B shows another example of the voice and operation of the robot. It is a timing chart. In FIG. 4, the right direction is time.

The robot 1 combines a plurality of first general-purpose operations 41 according to the voice 40 as shown in FIG. Thus, when combining the operations of the robot 1, a plurality of the same operations (here, the first general-purpose operation 41) may be combined and the operations may be repeated. At this time, the timing at which the output of the sound 40 ends may not coincide with the timing at which the continuous operation by the combination of the first general-purpose operations 41 ends.

Also, the drive control unit 14 selects a plurality of first general-purpose operations 41 so as to match the period in which the sound 40 is output. Thereby, the timing at which the output of the sound 40 ends can coincide with the timing at which the continuous operation by the combination of the first general-purpose operations 41 ends.

The robot 1 combines the first general-purpose operation 42 and the second general-purpose operation 43 according to the voice 40 as shown in FIG. At this time, the timing at which the output of the sound 40 ends may coincide with the timing at which the continuous operation of the first general operation 42 and the second general operation 43 ends.

As in the case of combining a plurality of first general-purpose operations 41 according to the sound 40, the drive control unit 14 selects the first general-purpose operation 42 and the second general-purpose operation 43 so as to match the period during which the sound 40 is output. To do. Thereby, the timing at which the output of the sound 40 is finished can coincide with the timing at which the continuous operation of the first general-purpose operation 42 and the second general-purpose operation 43 is finished.

Therefore, the movable unit 5 performs a continuous operation according to the period during which the audio 40 is output by the audio output unit 3.

As described above, the robot 1 according to the present embodiment includes the audio output unit 3 that outputs the audio 40, and the movable unit 5 performs a continuous operation according to the period in which the audio 40 is output by the audio output unit 3. .

According to the above configuration, since the continuous operation is executed according to the period during which the audio 40 is output by the audio output unit 3, it is possible to cause the robot 1 to perform an operation suitable for the utterance timing.

[Embodiment 3]
The following will describe another embodiment of the present invention with reference to FIG. For convenience of explanation, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted.

The robot 1 according to the third embodiment has different playback times from the start to the end of the first and second general-purpose motion data according to the type of emotion represented by the content of the sound output from the sound output unit 3. . FIG. 5A shows an example of the voice and operation of the robot 1 when the emotion represented by the voice 40A output from the voice output unit 3 of the robot 1 according to the third embodiment of the present invention is sadness. It is a timing chart which shows. FIG. 5B is a timing chart showing an example of the voice and operation of the robot 1 when the emotion represented by the voice 40B output from the voice output unit 3 of the robot 1 is pleasure. In FIG. 5, the right direction is time.

In FIG. 5A, a plurality of first general-purpose operations 50 are combined according to the voice 40A. In FIG. 5B, a plurality of first general-purpose operations 51 are combined in accordance with the voice 40B. Here, the first general-purpose operation 50 and the first general-purpose operation 51 are operations having the same contents, but the operation times are different. Further, it is assumed that the audio 40A and the audio 40B are audio having the same reproduction time.

The contents of the voice 40A are contents representing sad feelings, and the contents of the voice 40B are contents representing emotions of joy.

When the emotion of the robot 1 is sad, the first general motion 50 is repeated three times for the voice 40A because the operation time is longer than the first general motion 51. When the emotion of the robot 1 is joy, the first general motion 51 is repeated seven times for the voice 40B because the operation time is shorter than the first general motion 50. Therefore, when the emotion of the robot 1 is sad, the operation speed of the general-purpose operation is reduced because the number of operations of the general-purpose operation is smaller than when the emotion of the robot 1 is joy. Further, when the emotion of the robot 1 is joy, the number of general-purpose operations is increased compared to the case where the emotion of the robot 1 is sad, so the operation speed of the general-purpose speed is increased. The slow operation speed by the first general-purpose operation 50 is considered to be more suitable for the expression of sadness than the fast operation speed by the first general-purpose operation 51. The fast operation speed by the first general-purpose operation 51 is considered to be more suitable for expressing joy than the slow operation speed by the first general-purpose operation 50.

Also, multiple general-purpose motion data with the same playback time and different motion sizes may be prepared and switched according to the situation. For example, when the emotion of the robot is sadness or joy, that is, depending on the type of emotion represented by the content of the voice, the robot 1 is selected to be large or small.

As described above, for example, when a voice representing sadness is output, since the number of times of repeating the first general-purpose operation 50 is small, it becomes a continuous operation with a slow operation speed that does not move much. In addition, when a voice representing a feeling of joy is output, since the first general-purpose operation 51 is repeated many times, it becomes a continuous motion with a fast movement speed that moves well, so that it corresponds to the type of emotion represented by the voice. The robot can be operated.

If the emotion of the robot 1 is distinguished according to the contents of the general-purpose motion data, the processing may be performed as follows. Specifically, for example, when the emotion of the robot 1 is sadness, the drive control unit 14 uses general motion data candidates 11 to 20 in which the motion of the robot 1 is small from the sadness motion data table as shown in Table 3. Any of these may be selected. Further, when the emotion of the robot 1 is joy, the drive control unit 14 selects any one of the general motion data candidates 1 to 10 having a large motion of the robot 1 from the joy motion data table as shown in Table 3. May be selected.

As described above, the robot 1 according to the present embodiment has different playback times from the start to the end of the first and second general-purpose motion data according to the type of emotion represented by the content of the voice.

With the above configuration, for example, when a voice representing sadness is output, the first general-purpose operation 50 is repeated so that the continuous operation does not move much. In addition, when a voice representing a feeling of joy is output, a continuous motion that moves well because the first general-purpose motion 51 is repeated many times. For this reason, the robot can be operated according to the type of emotion expressed by the voice.

[Embodiment 4]
The following will describe another embodiment of the present invention with reference to FIG. For convenience of explanation, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted.

In the robot 1 according to the fourth embodiment, as shown in FIG. 6, the continuous motion 60 includes a first general motion 60A, a second general motion 60B, a third general motion 60C, and a fourth general motion 60D. . FIG. 6 is a timing chart showing an example of the operation of the robot 1 according to the fourth embodiment of the present invention.

The first general-purpose operation 60A starts with the reference pose 64, then executes the first operation 61A, and ends with the reference pose 64. The second general operation 60B starts at the reference pose 64, then executes the second operation 61B, and ends at the reference pose 64. The third general-purpose operation 60C starts at the reference pose 64, then executes the third operation 61C, and ends at the reference pose 65. The fourth general-purpose operation 60D starts with the reference pose 65, then executes the fourth operation 61D, and ends with the reference pose 66.

Accordingly, the first general motion data for the first general motion 60A, the second general motion data for the second general motion 60B, the third general motion data for the third general motion 60C, and the fourth general motion data. When the fourth general-purpose motion data for the operation 60D is continuously reproduced, the first general-purpose operation 60A and the second general-purpose operation 60B can be connected with the reference pose 64 without a sense of incongruity. Further, the second general motion 60B and the third general motion 60C can be connected without any sense of incongruity by the reference pose 64, and the third general purpose motion 60C and the fourth general purpose motion 60D can be seamlessly connected by the reference pose 65. be able to.

Thus, in the robot 1 according to the present embodiment, the continuous operation includes the third general-purpose operation 60C that is continuous with the second general-purpose operation 60B, and the fourth general-purpose operation 60D that is continuous with the third general-purpose operation 60C. The third general-purpose operation 60C starts at the reference pose 64 and then ends at the reference pose 65, and the fourth general-purpose operation 60D starts at the reference pose 65. The control unit 10 obtains second general motion data for the second general motion 60B, third general motion data for the third general motion 60C, and fourth general motion data for the fourth general motion 60D. Play continuously in this order.

With the above configuration, when the second, third, and fourth general-purpose motion data are continuously reproduced, the second general-purpose operation 60B and the third general-purpose operation 60C can be connected with the reference pose 64 without a sense of incongruity. . Further, the third general operation 60C and the fourth general operation 60D can be connected without a sense of incongruity by the reference pose 65.

[Embodiment 5]
The following will describe another embodiment of the present invention with reference to FIG. For convenience of explanation, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted.

The operation of the robot 1 according to the fifth embodiment in the upright posture state and the sitting state will be described with reference to FIG. FIG. 7A is a schematic diagram illustrating an example of an operation in a state where the robot 1 according to Embodiment 5 of the present invention is in an upright posture, and FIG. 7B is an example of an operation in a state where the robot is sitting. It is a schematic diagram shown.

As shown in FIG. 7A, the robot 1 operates only the arm portion 6 in an upright posture. As shown in FIG. 7B, the robot 1 operates only the arm 6 while sitting.

Referring to (a) of FIG. 7, the robot 1 first lowers both the left and right arm portions 6 by raising the foot portion 7 in a posture 70. In the posture 71, the robot 1 raises both arm portions 6 while keeping the foot portion 7 upright. Next, in the posture 72, the robot 1 lowers one of the both arm portions 6 while keeping the foot portion 7 upright. Thereafter, the robot 1 takes the posture 70 by lowering the other of the both arm portions 6 while keeping the foot portion 7 upright.

Referring to FIG. 7 (b), the robot 1 first lowers both the left and right arms 6 in a posture 74 with the foot 7 sitting. Then, in posture 75, the robot 1 raises both arm portions 6 while keeping the foot portion 7 sitting. Next, in the posture 76, the robot 1 keeps the foot portion 7 in the sitting state and lowers one of the both arm portions 6. Thereafter, the robot 1 is in a posture 74 by lowering the other of the both arm portions 6 while keeping the foot portion 7 sitting.

7 (a) and FIG. 7 (b) are compared, the operating part is only the arm part 6 and the foot part 7 is stationary. The operation of the arm 6 is the same in both cases. Therefore, in both cases, the drive control unit 14 may select similar general-purpose motion data for the arm unit 6. Therefore, it is not necessary to prepare two types of general-purpose motion data when the robot 1 is in the upright posture and the sitting state, and only one general-purpose motion data for operating the arm unit 6 is prepared. As shown in Table 4 below, one general-purpose motion data may be selected from the general-purpose motion data candidates 1 to 10 described in the motion data table of an operation in which only the arm 6 enters torque. At this time, consider a case where there is an “upright” reference pose posture 70 and a “sitting” reference pose posture 74 that differ only in the position of the actuator of the foot 7. In this case, the general motion data that changes from posture 70 through posture 71 and posture 72 to posture 70 and the general motion data that changes from posture 74 through posture 75 and posture 76 to posture 74 are not moved. Consists of motion data. This makes it possible to use general-purpose motion data in the operations of FIGS. 7A and 7B while standing upright in the “upright” posture and sitting down in the “sitting” posture. .

Thus, the first general-purpose motion data can be configured not to move the actuator of the foot 7 when the first general-purpose operation is started at the reference pose, and the first operation is executed and ended at the reference pose. Therefore, the first general-purpose motion data representing the first motion of the same arm 6 while standing upright when the posture of the first motion is “upright” and sitting down when the posture of the first motion is “sitting”. Can be played.

As described above, in the robot 1 according to the present embodiment, the movable unit 5 includes the foot part 7 (first part) attached to the support part and the arm part 6 (second part) attached to the support part. Including. Further, the first motion is not related to the foot (first part) but is related to the arm (second part). In the first action, the arm is driven without driving the foot. Thus, the first general-purpose motion data is configured.

With the above configuration, the first general-purpose motion data can be configured not to move the actuator of the foot when the first general-purpose operation is started at the reference pose, and the first operation is executed and ended at the reference pose. Therefore, the first general-purpose motion data representing the movement of the same arm is reproduced while standing upright when the posture of the first motion is “upright” and sitting down when the posture of the first motion is “sitting”. be able to.

[Summary]
The robot 1 according to the first aspect of the present invention includes a movable unit 5 that performs

continuous operations

30, 60 in which the first general-

purpose operations

30A, 41, 42, 50, 51, 60A and the second general-

purpose operations

30B, 43, 60B are continuous. And a control unit (drive control unit 14) that controls the

continuous operations

30 and 60, and the first general-

purpose operations

30A, 41, 42, 50, 51, and 60A are started with reference poses 32 and 64, The

first operations

31A and 61A are executed and finished at the reference poses 32 and 64, and the second general-

purpose operations

30B, 43 and 60B are started at the reference poses 32 and 64, and then the

second operations

31B and 61B are executed. The control unit (drive control unit 14) ends with the first general motion data for the first

general motions

30A, 41, 42, 50, 51, 60A, 2nd pan Operation 30B, controls the

continuous operation

30, 60 by continuous playback in combination with the second generic motion data for 43,60B.

The robot 1 according to the aspect 2 of the present invention is the robot 1 according to the aspect 1 described above, wherein the speech unit (speech output unit 3) that outputs sound and a plurality of general-purpose motion data candidates that start at the reference pose 32 and end at the reference pose 32 The motion data table 22 is further described, and the control unit (drive control unit 14) determines the motion data table 22 according to the content of the voice output by the utterance unit (voice output unit 3). The first general motion data and the second general motion data may be selected and combined from a plurality of general motion data candidates.

According to the above configuration, even in a state where only a limited number of general-purpose motion data is held, it is possible to cause the robot 1 to perform a variety of motions suitable for the utterance content. That is, by reproducing the combination of the general-purpose motion data, even the robot 1 that makes a huge variety of utterances can operate according to the utterance content only by preparing a certain amount of general-purpose motion data.

The robot 1 according to aspect 3 of the present invention further includes an utterance unit (speech output unit 3) that outputs the voice 40 in the above-described

aspect

1 or 2, and the movable unit 5 includes the utterance unit (speech output unit 3). The continuous operation 30 may be executed according to a period during which the sound 40 is output.

The robot 1 according to aspect 4 of the present invention ends from the start of the first and second general-purpose motion data according to the type of emotion represented by the contents of the

voices

40A and 40B in the aspect 2 or 3. The playback time until may be different.

With the above configuration, for example, when a voice 40A representing sad feelings is output, the number of times of repeating the first general-purpose operation 50 is small, and thus a continuous movement that does not move so much is generated, and a voice 40B that represents emotions of joy is output. When this is done, the first general-purpose operation 51 is repeated many times, so that it is a continuous operation that moves well, so that the robot can perform an operation according to the type of emotion represented by the voice.

The robot 1 according to aspect 5 of the present invention is the robot 1 according to any one of the aspects 1 to 4, wherein the continuous motion 60 is divided into a third general motion 60C that is continuous with the second general motion 60B and the third general motion 60C. The third general purpose operation 60C starts with the reference pose 64 and then ends with another reference pose 65, and the fourth general purpose operation 60D includes the other general reference operation 60D. Starting at pause 65, the control unit (drive control unit 14) controls the second general purpose motion data, the third general purpose motion data for the third general purpose operation 60C, and the fourth general purpose operation 60D. You may reproduce | regenerate 4th general purpose motion data continuously in this order.

With the above configuration, when the first, second, third, and fourth general-purpose motion data are continuously reproduced, there is no sense of incongruity between the third general-purpose operation 60C and the fourth general-purpose operation 60D due to another reference pose 65. Can be connected.

The robot 1 according to aspect 6 of the present invention is the robot 1 according to any one of the aspects 1 to 5, wherein the movable part 5 is attached to the first part (foot part 7) attached to the support part, and the support part. A second portion (arm portion 6) that is a portion different from the first portion, and the

first movements

31A and 61A are not related to the first portion (foot portion 7), and the second portion ( The

first part

31A and 61A, the first part (foot part 7) is not driven and the second part (arm part 6) is driven in the

first action

31A, 61A. One general-purpose motion data may be configured.

With the above configuration, the first general-purpose operation is started at the reference pose, and when the

first operations

31A and 61A are executed and ended at the reference pose, the first portion (foot 7) actuator is not moved. 1 general-purpose motion data can be configured, so if the postures of the

first motions

31A and 61A are “upright”, they are standing upright, and if the postures of the

first motions

31A and 61A are “sitting”, they are sitting and The first general-purpose motion data representing the

first actions

31A and 61A of the part (arm part 6) can be reproduced.

The robot operating method according to the seventh aspect of the present invention is a movable that executes a

continuous motion

30, 60 in which a first

general motion

30A, 41, 42, 50, 51, 60A and a second

general motion

30B, 43, 60B are continuous. And a control step for controlling the

continuous movements

30 and 60. The first general-

purpose movements

30A, 41, 42, 50, 51 and 60A start with reference poses 32 and 64, and then the

first movement

31A, 61A is executed and ends with the reference poses 32 and 64, and the second general-

purpose operations

30B, 43 and 60B are started with the reference poses 32 and 64, and then the

second operations

31B and 61B are executed to execute the reference poses. 32, 64, and the control process includes the first general motion data for the first

general operation

30A, 41, 42, 50, 51, 60A and the second

general operation

30B, 43, 6 For controlling the

continuous operation

30, 60 by successively reproducing the second by combining the general-purpose motion data for the B.

According to said structure, there exists an effect similar to the said aspect 1.

The robot according to each aspect of the present invention may be realized by a computer. In this case, a robot program for realizing the robot by the computer by operating the computer as each unit (software element) included in the robot. And a computer-readable recording medium on which it is recorded also fall within the scope of the present invention.

The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. Is also included in the technical scope of the present invention. Furthermore, a new technical feature can be formed by combining the technical means disclosed in each embodiment.

1 Robot 2 Sensor 3 Voice output part (speech part)
4 Drive part 5 Movable part 6 Arm part (second part)
7 feet (first part)
DESCRIPTION OF SYMBOLS 10 Control part 11 Utterance trigger part 12 Utterance content determination part 13 Voice output control part 14 Drive control part (control part)
15 start / end posture determination unit 20 storage unit 21 utterance content table 22 motion data table 30/60 continuous operation 30A / 41/42/50/51 / 60A first general operation 30B / 43 / 60B second general operation 31A / 61A First operation 31B / 61B Second operation 32/63/64/65/66 Reference pause 33 End pause 40 / 40A / 40B Audio 60C Third general operation 60D Fourth general operation

61C Third operation

61D Fourth operation 70/71・ 72 ・ 74 ・ 75 ・ 76 Posture

Claims

A movable part that performs a continuous operation in which the first general-purpose operation and the second general-purpose operation are continuous;
A control unit for controlling the continuous operation,
The first general operation starts at the reference pose, and then executes the first operation and ends at the reference pose.
The second general operation starts at the reference pose, and then executes the second operation and ends at the reference pose.
The controller controls the continuous operation by continuously reproducing the first general-purpose motion data for the first general-purpose operation and the second general-purpose motion data for the second general-purpose operation; Characteristic robot.
An utterance unit that outputs voice;
A motion data table in which a plurality of general-purpose motion data candidates starting at the reference pose and ending at the reference pose are described;
The control unit selects the first general-purpose motion data and the second general-purpose motion data from a plurality of general-purpose motion data candidates in the motion data table according to the content of the sound output from the speech unit. The robot according to claim 1 to be combined.
It further includes an utterance unit that outputs voice,
The robot according to claim 1, wherein the movable unit performs the continuous operation according to a period during which the voice is output by the utterance unit.
4. The robot according to claim 2 or 3, wherein the playback time from the start to the end of the first and second general-purpose motion data varies depending on the type of emotion represented by the content of the voice.
The continuous operation further includes a third general operation that is continuous with the second general operation, and a fourth general operation that is continuous with the third general operation;
The third general-purpose operation starts with the reference pose and then ends with another reference pose.
The fourth general operation starts at the other reference pose,
The control unit sequentially outputs the second general-purpose motion data, the third general-purpose motion data for the third general-purpose operation, and the fourth general-purpose motion data for the fourth general-purpose operation in this order. The robot according to any one of claims 1 to 4, which is reproduced.
The movable part includes a first part attached to a support part, and a second part attached to the support part, which is a part different from the first part,
The first action is an action related to the second part, not related to the first part,
6. The robot according to claim 1, wherein in the first operation, the first general-purpose motion data is configured to drive the second part without driving the first part. 7.
A movable step of performing a continuous operation in which the first general-purpose operation and the second general-purpose operation are continuous;
A control step for controlling the continuous operation,
The first general operation starts at the reference pose, and then executes the first operation and ends at the reference pose.
The second general operation starts at the reference pose, and then executes the second operation and ends at the reference pose.
The control step controls the continuous motion by continuously reproducing the first general motion data for the first general motion and the second general motion data for the second general motion. Characteristic robot operation method.
A program for causing a computer to function as a movable unit that executes a continuous operation in which a first general-purpose operation and a second general-purpose operation are continuous, and a control unit that controls the continuous operation,
The first general operation starts at the reference pose, and then executes the first operation and ends at the reference pose.
The second general operation starts at the reference pose, and then executes the second operation and ends at the reference pose.
A program for controlling the continuous motion by continuously reproducing the first general motion data for the first general motion and the second general motion data for the second general motion.