JP7180139B2 - Robot, robot control method and program - Google Patents

Description

The present invention relates to a robot, a robot control method, and a program.

In order for devices such as robots to become widespread, it is important how to express familiarity with a given target. At present, there is known a technique for changing the distance between a robot and a predetermined target according to the likability of the predetermined target. (See Patent Document 1, for example).

Japanese Patent Application Laid-Open No. 2000-326274

However, the technique of Patent Literature 1 changes only the distance after moving to a predetermined target according to the likability, and is not sufficient as an emotional expression according to the likability toward the predetermined target. There is a problem that there is

Accordingly, the present invention has been made in view of the circumstances as described above, and provides a robot, a robot control method, and a program capable of expressing richer emotions than ever before according to a predetermined target's favorability. intended to provide

In order to achieve the above object, one aspect of the robot according to the present invention is
recognition means for recognizing a predetermined target;
Based on the likability of the predetermined target recognized by the recognition means, as an approach mode during approaching the predetermined target, an approach route, an approach speed, and an opposing direction when the device approaches the predetermined target. Determining means for determining the angle and approach attitude ;
a control means for controlling the self -apparatus to express an emotion toward the predetermined object according to the manner of approach determined by the determination means while the apparatus is approaching the predetermined object;
with
The control means is
When the favorability is higher than a threshold, a first approach angle corresponding to a first approach posture facing the predetermined target head-on on a straight first approach path at a first approach speed. and controlling the self-device so that the self-device approaches the predetermined target,
When the favorability is lower than the threshold value, a meandering second approach route, a second approach speed slower than the first approach speed, and a second approach speed that does not face the predetermined target head-on. controlling the self-device so that the self-device approaches the predetermined target at a second facing angle corresponding to the approach posture;
It is characterized by
Further, one aspect of the robot according to the present invention is
recognition means for recognizing a predetermined target;
determining means for determining an approaching manner during approaching the predetermined target based on the liking for the predetermined target recognized by the recognizing means;
a control means for controlling the apparatus to express an emotion to the predetermined object according to the approach mode determined by the determining means while the apparatus is approaching the predetermined object;
with
The control means, while approaching the predetermined object, as the emotional expression,
controlling the self-device to perform a favorable action toward the predetermined target when the favorability is higher than a threshold;
controlling the self-device to perform an action unfavorable to the predetermined target when the favorability is lower than the threshold;
It is characterized by
Further, one aspect of the robot according to the present invention is
recognition means for recognizing a predetermined target;
determining means for determining an approaching manner during approaching the predetermined target based on the liking for the predetermined target recognized by the recognizing means;
a control means for controlling the apparatus to express an emotion to the predetermined object according to the approach mode determined by the determining means while the apparatus is approaching the predetermined object;
with
When the recognition means recognizes another target different from the predetermined target while approaching the predetermined target,
The determining means determines a passing mode during passage for the other object based on the other favorable impression of the other object recognized by the recognizing means,
The control means controls the own device to express another emotion to the other object in accordance with the passage mode determined by the determination means during passage to the other object.
It is characterized by

In order to achieve the above object, one aspect of the robot control method according to the present invention includes:
a recognition step of recognizing a predetermined target;
An approach path and an approach speed when the robot approaches the predetermined object as an approach mode of the robot that is approaching the predetermined object, based on the likability for the predetermined object recognized in the recognition step , the facing angle and the approaching attitude ;
a control step of controlling the robot to express an emotion toward the predetermined object according to the manner of approach determined in the determining step while the robot is approaching the predetermined object;
In the control step,
When the favorability is higher than a threshold, a first approach angle corresponding to a first approach posture facing the predetermined target head-on on a straight first approach path at a first approach speed. and controlling the robot so that the robot approaches the predetermined target,
When the favorability is lower than the threshold value, a meandering second approach route, a second approach speed slower than the first approach speed, and a second approach speed that does not face the predetermined target head-on. controlling the robot so that the robot approaches the predetermined target at a second facing angle corresponding to the approach posture;
It is characterized by
Further, one aspect of the robot control method according to the present invention includes:
a recognition step of recognizing a predetermined target;
a determination step of determining an approach mode during approach to the predetermined target based on the likability of the predetermined target recognized in the recognition step;
a control step of controlling the robot to express an emotion toward the predetermined object according to the manner of approach determined in the determining step while the robot is approaching the predetermined object;
In the control step, during the approach to the predetermined target, as the emotional expression,
controlling the robot to perform a favorable action toward the predetermined target when the favorable rating is higher than a threshold;
controlling the robot to perform an unfavorable action toward the predetermined target when the favorable rating is lower than the threshold;
It is characterized by
Further, one aspect of the robot control method according to the present invention includes:
a recognition step of recognizing a predetermined target;
a determination step of determining an approach mode during approach to the predetermined target based on the likability of the predetermined target recognized in the recognition step;
a control step of controlling the robot to express an emotion toward the predetermined object according to the manner of approach determined in the determining step while the robot is approaching the predetermined object;
When another target different from the predetermined target is recognized while approaching the predetermined target,
Determining a transit mode during transit for the other object based on the perceived other likability for the other object,
controlling the robot to express another emotion to the other object in accordance with the determined passage mode during the passage to the other object;
It is characterized by

Further, in order to achieve the above object, one aspect of the program according to the present invention is
to the robot's computer
a recognition process for recognizing a predetermined target;
Based on the likability for the predetermined object recognized by the recognition process, as an approach mode during approaching the predetermined object, an approach route, an approach speed, and an opposing position when the robot approaches the predetermined object. determination processing for determining an angle and an approach posture ;
a control process for controlling the robot to express an emotion toward the predetermined target according to the approach mode determined by the determination process while the robot is approaching the predetermined target;
and
In the control process,
When the favorability is higher than a threshold, a first approach angle corresponding to a first approach posture facing the predetermined target head-on on a straight first approach path at a first approach speed. and controlling the robot so that the robot approaches the predetermined target,
When the favorability is lower than the threshold value, a meandering second approach route, a second approach speed slower than the first approach speed, and a second approach speed that does not face the predetermined target head-on. controlling the robot so that the robot approaches the predetermined target at a second facing angle corresponding to the approach posture ;
It is characterized by
In addition, one aspect of the program according to the present invention is
to the robot's computer
a recognition process for recognizing a predetermined target;
a determination process of determining an approach state during approach to the predetermined target based on the likability for the predetermined target recognized by the recognition process;
a control process for controlling the robot to express an emotion toward the predetermined target according to the approach mode determined by the determination process while the robot is approaching the predetermined target;
and
In the control process, during the approach to the predetermined object, as the emotional expression,
controlling the robot to perform a favorable action toward the predetermined target when the favorable rating is higher than a threshold;
controlling the robot to perform an unfavorable action toward the predetermined target when the favorable rating is lower than the threshold;
It is characterized by
In addition, one aspect of the program according to the present invention is
to the robot's computer
a recognition process for recognizing a predetermined target;
a determination process of determining an approach state during approach to the predetermined target based on the likability for the predetermined target recognized by the recognition process;
a control process for controlling the robot to express an emotion toward the predetermined target according to the approach mode determined by the determination process while the robot is approaching the predetermined target;
and
When another target different from the predetermined target is recognized while approaching the predetermined target,
Determining a transit mode during transit for the other object based on the perceived other likability for the other object,
controlling the robot to express another emotion to the other object in accordance with the determined passage mode during the passage to the other object;
It is characterized by

According to the present invention, it is possible to provide a robot, a robot control method, and a program capable of expressing richer emotions than ever before according to a predetermined target's favorability.

1 is a front view of a robot according to an embodiment of the invention; FIG. It is a block diagram which shows the structure of a robot. It is a figure which shows an example of a user action table. It is a figure which shows an example of a favorable impression setting table (positive impression acquisition table). It is a figure which shows an example of an approach state determination table. It is a figure for demonstrating the linear movement path|route (approach path|route). It is a figure for demonstrating the curved movement path|route. It is a figure for demonstrating the movement path|route which meandered. FIG. 4 is a diagram for explaining a state in which the robot faces the user head-on; FIG. 4 is a diagram for explaining a state in which the robot faces the user obliquely; It is a flow chart which shows the flow of response control processing (approach control processing). It is a figure for demonstrating the moving route by which the detour route (passing route) was formed.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the following embodiments, robots equipped with interactive devices according to embodiments of the present invention will be described as examples.

A robot 100 is a robot that communicates with a predetermined target. Here, the predetermined target is the user (user) who uses the robot 100, typically the owner of the robot 100, or the owner's family, friends, or the like. In addition to humans, predetermined objects include animals and other robots.

The robot 100, as shown in FIG. 1, is a robot having a three-dimensional shape that resembles a human in appearance. Further, the exterior of the robot 100 is made mainly of synthetic resin. The robot 100 includes a body portion 101, a head portion 102 connected to the upper portion of the body portion 101, hand portions 103 connected to the left and right sides of the body portion 101, and two legs connected to the lower portion of the body portion 101. 104 and . The head 102, hand 103, and foot 104 are attached to the body 101 via joint members (not shown), and are configured to perform preset actions under the control of the control unit 110, which will be described later. there is The head 102 also has a pair of left and right eyes 105 and a mouth 106 . Note that the upper, lower, left, and right sides of FIG. 1 are the upper, lower, right, and left sides of the robot 100, respectively.

Next, the configuration of the robot 100 will be described with reference to FIG. The robot 100 includes a control unit 110, a storage unit 120, an imaging unit 130, a sensor unit 140, a moving unit 150, an operation unit 160, an audio input unit 170, and an audio output unit 180, as shown in FIG. These units are electrically connected to each other via a bus line BL.

The control unit 110 is configured by a computer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and controls the operation of the robot 100 . The control unit 110 controls the operation of each unit of the robot 100 by having the CPU read a control program stored in the ROM and execute it on the RAM.

By executing the control program, the control unit 110 performs a user recognition unit 111, a face recognition unit 112, a voice recognition unit 113, a user action recognition unit 114, a favorable rating setting unit (good rating acquiring unit) 115, a reception control unit ( It functions as an approach control unit) 116 .

The user recognition unit 111 identifies and recognizes users existing around the robot 100 (for example, within a radius of 3 m from the robot 100). The user recognition unit 111 recognizes who the users around the robot 100 are based on, for example, one or both of a face recognition result by the face recognition unit 112 and a speaker recognition result by the voice recognition unit 113, which will be described later. to recognize The user recognition unit 111 also recognizes the surroundings of the robot 100 based on, for example, the position and size of the face image detected by the face recognition unit 112 from the captured image of the imaging unit 130, the direction of the sound source recognized by the voice recognition unit 113, and the like. Recognize the location of the user and the distance to the user in the . The user recognition unit 111 functions as recognition means of the present invention.

The face recognition unit 112 recognizes the user's face around the robot 100 . The face recognition unit 112 detects a user existing around the robot 100 using a well-known face detection technique, object detection technique, or the like, for example, based on a captured image acquired from the imaging unit 130 described later. Subsequently, the face recognition unit 112 detects, for example, a face image corresponding to the detected face part of the user from the image captured by the imaging unit 130, and extracts facial feature information indicating the feature amount of the face. Then, the face recognition unit 112 collates facial feature information extracted from the facial image with facial feature information included in each piece of user information stored in a user information DB (Data Base) 121 of the storage unit 120, which will be described later. Identify registered users whose degrees meet predetermined criteria. The face recognition unit 112 recognizes that the detected user is an unregistered user when a registered user whose degree of similarity satisfies a predetermined criterion cannot be identified. The facial feature amount may be any information that can identify the user's face. For example, the appearance features such as the shape, size, and arrangement of each part included in the face, such as the eyes, nose, and mouth, are indicated numerically. It is a thing. Thus, the face recognition section 112 functions as face recognition means of the present invention.

The speech recognition unit 113 recognizes the content of the user's speech included in the speech data acquired from the speech input unit 170, which will be described later. The speech recognition unit 113 performs speech recognition processing on the speech data using the speech recognition data stored in the speech recognition DB 122 of the storage unit 120, and generates text data indicating the content of the user's speech as the speech recognition result. The speech recognition unit 113 functions as speech recognition means of the present invention.

The speech recognition unit 113 also recognizes the speaker who has uttered the speech included in the speech data acquired from the speech input unit 170 . The speech recognition unit 113, for example, removes background noise and the like from the speech data acquired from the speech input unit 170, and extracts speech feature information indicating feature amounts of the user's speech. Then, the speech recognition unit 113 collates the speech feature information extracted from the speech data with the speech feature information included in each user information stored in the user information DB 121 of the storage unit 120, and obtains the similarity as the speaker recognition result. identifies registered users who meet predetermined criteria. The voice feature information may be any information that allows identification of the user's voice, and is, for example, numeric values representing acoustic features such as pitch, strength, speed, and quality of voice. As described above, when the user recognition unit 111 recognizes a plurality of users existing around the robot 100, the voice recognition unit 113 can identify which user made the utterance.

Also, the voice recognition unit 113 recognizes the sound source direction based on the voice data acquired from the voice input unit 170 . The voice recognition unit 113 recognizes the direction of the sound source based on, for example, the sound collection time difference and the sound pressure level difference between the microphones of the microphone unit of the voice input unit 170 .

The user behavior recognition unit 114 recognizes behavior of the user with respect to the robot 100 (hereinafter referred to as “user behavior”). The user action recognition unit 114 recognizes the user action according to, for example, the content of the user's utterance recognized by the voice recognition unit 113, the contact intensity detected by the touch sensor of the sensor unit 140, and the like. For example, when the contact strength detected by the touch sensor is lower than a preset reference value, the user action recognition unit 114 recognizes the user action as "stroking", and the contact strength reaches the preset reference value. If it is higher than the value, the user action is recognized as "hitting". Note that the user behavior determination unit may detect the user's facial expression, behavior, and the like from the image captured by the image capturing unit 130, thereby recognizing the user behavior. The user behavior recognition unit 114 adds the recognized user behavior to the user information of the user and stores it as history information. The user action recognition unit 114 functions as action recognition means of the present invention.

The positivity setting unit (positiveness acquisition unit) 115 sets (acquires) the positivity of each user. The likability setting unit 115 determines the likability for the user, for example, according to the user's behavior toward the robot 100 . The positivity setting unit 115 refers to, for example, a user behavior table and a positivity setting table (positiveness acquisition table) stored in the storage unit 120 when determining positivity.

In the user behavior table, as shown in FIG. 3, "user behavior" and "granted points" are associated with each other. As "user actions", "talking", "stroking", etc. are listed. Also, the "given point" is a numerical value preset for each user action. By setting different points for each user action, weighting according to the attribute of the user action (the user's favorability toward the robot 100) is applied. For example, positive values are set for favorable actions such as "talking" and "stroking", and negative values are set for unfavorable actions such as "not responding" and "hitting". By applying such weighting, it is possible to distinguish each user behavior into favorable behavior and unfavorable behavior, and if the behavior is favorable, the favorability is increased, and if the behavior is unfavorable, If so, you can lower your sensitivity.

As shown in FIG. 4, the favorable impression setting table associates "positive impression" with "positive impression point". "Favorability" is classified into five levels of "A", "B", "C", "D", and "E" according to the degree of favorability. The “favorable impression point” is the total value of points given to each user action performed by the same user during a predetermined period. Favorability points are associated in the order of favorability "A" to "E". That is, one or a plurality of thresholds are provided for favorable ratings, and positive ratings are classified into a plurality of categories according to the provided thresholds. "Favorability points" are, for example, the total value of the points granted in the most recent predetermined period, the weighted average value obtained by increasing the weight as the favorability points in the most recent predetermined period, and the A moving average or the like obtained from favorable impression points can be used.

The favorability setting unit 115 sets the favorability (favorability level) of each user, for example, each time a predetermined period elapses, and the current status included in the corresponding user information stored in the user information DB 121 of the storage unit 120. Updates and memorizes the favorability of Also, the favorable rating setting unit 115 can refer to the corresponding user information stored in the user information DB 121 and appropriately obtain the favorable rating set in advance. Thus, the favorable impression setting unit 115 functions as recording means and acquisition means of the present invention.

The response control unit 116 determines a response mode according to the favorability of the target user, and controls one of the movement unit 150, the operation unit 160, and the voice output unit 180 so as to express emotions based on the determined response mode. Control at least one to perform various actions.

When the user action recognition unit 114 recognizes a user action, the response control unit 116 sets a response mode for executing the action of the robot 100 in response to the user action (hereinafter referred to as "response action (response action)"). is determined according to favorability. For example, when the user action recognition unit 114 recognizes greetings such as "Good morning" and "Hello", the response control unit 116 recognizes greetings such as "Good morning" and "Hello" for the target user with a high favorable rating. , followed by utterances such as "It's nice weather today" and "What are you doing today?" . On the other hand, for a target user with low favorability, formal and polite responses such as greetings such as "Good morning" and "Hello" are determined as the mode of reception. Response control unit 116 then controls voice output unit 180 to output voice indicating the determined response mode.

Further, when the user behavior recognition unit 114 recognizes a user behavior, the response control unit 116 determines whether or not the target user satisfies a preset approach condition. The manner of approach as a manner of reception is determined according to the favorability. As the approach condition, there is a call (for example, "come here", "come over here", etc.) for the target user to call the robot 100 to the vicinity of the target user. In this case, the response control unit 116 may determine whether or not the approach condition is satisfied based on the speech recognition result of the speech recognition unit 113 . In the following description, a target user who satisfies the approach condition is referred to as an "approach target user". If it is determined that the approach condition is satisfied, the response control unit 116 refers to, for example, the approach mode determination table shown in FIG. At least one of (approaching speed), the facing distance (approaching distance) to the approaching target user at the end of approaching, and the facing attitude (approaching attitude) during approaching or at the end of approaching facing the user is determined. Thus, the response control unit (approach control unit) 116 functions as control means and determination means of the present invention.

For example, as shown in FIG. 5, the approach mode determination table corresponds to "moving path", "moving speed", "facing distance", and "facing posture" as the response mode (approach mode) for each level of favorability. attached.

For the "movement route (approach route)", the higher the favorability, the direct (straight) route pattern toward the approach target user is set, and the lower the favorability, the more detour (meandering) route pattern is set. It is For example, "Straight" is a straight path for favorable rating "A"; A path "Meandering (Large)" is set.

More specifically, in the case of the movement route “straight line”, as shown in FIG. 6, the robot 100 approaches the approaching user UR along the straight movement route MR. In the case of the movement route “curved (large)” and “curved (small)”, as shown in FIG. 7, the robot 100 approaches the approaching user UR along the curved movement route MR. Note that "curvature (large)" indicates that the curvature is smaller than "curvature (small)". In the case of the moving route “meandering (large)” and “meandering (small)”, as shown in FIG. 8, the robot 100 approaches the approaching user UR along the meandering movement route MR. Note that "meandering (large)" indicates that the meandering width is larger than "meandering (small)". In this way, the "moving route" is set so that the moving distance increases as the favorability decreases. The response control unit 116 determines a specific travel route based on the position of the target user recognized by the user recognition unit 111, the distance to the target user, and the route pattern indicated by the “travel route”.

The "moving speed (approaching speed)" is set such that the higher the favorability, the higher the speed, and the lower the favorability, the lower the speed. For example, "high" (e.g., 0.5 m/sec), which is faster than a preset standard speed (e.g., 0.3 m/sec), is for favorability "A", and standard speed is for favorability "B". "Slightly high" (for example, 0.4 m / sec), which is slightly faster than the speed, "Medium", which is the standard speed for favorability "C", and slightly slower than the standard speed for favorability "D" Some "slightly low" (for example, 0.2 m/sec), and the favorability "E" is set to "low" (for example, 0.1 m/sec), which is slower than the standard speed.

The "opposing distance (approaching distance)" is set so that the higher the favorability, the shorter the distance between the robot 100 and the approaching target user at the end of movement. It is set so that the distance between it and the user is long. For example, "short", which is a distance (e.g., 0.3 m) shorter than a preset standard distance (e.g., 0.5 m) for the favorability "A", and for the favorability "B", A slightly short distance (eg, 0.4 m) is "slightly short," a standard distance is "medium" for favorability "C," and a slightly longer distance (eg, 0.4 m) is for favorability "D." .6 m), and the favorability rating "E" is set to "long", which is a longer distance (for example, 0.7 m) than the standard distance. In this way, the "facing distance" is set so that, as the favorability decreases, the approaching user ends the approaching movement at a distant position and faces the approaching target user.

The "facing posture (approaching posture)" is a posture in which the robot 100 faces the user during approaching toward the approaching user or when the approaching end is completed. It is represented by the opposing angle α that is the angle between UD and the front direction RD of the robot 100 . Here, the frontal direction UD of the approaching user is a direction that vertically pierces the surface along the horizontal direction of the approaching user from the rear to the front. Further, the front direction RD of the robot 100 is a direction that vertically pierces the surface along the left-right direction of the robot 100 from the rear to the front. The higher the favorability, the more the user is set to face the approach target user head-on, and the lower the favorability, the setting is set to face the approach target user obliquely. For example, “0°” for favorability “A”, “10°” for favorability “B”, “20°” for favorability “C”, and “30°” for favorability “D”. Sensitivity "E" is set to "40°". When the facing angle α is 0°, as shown in FIG. 9, the robot 100 faces the approaching user UR head-on. 100 obliquely faces the approaching user UR.

Although the front directions of the body portion 101 and the head portion 102 of the robot 100 have been described as being the same, the body portion 101 of the robot 100 is made to face the approaching target user head-on. ) and the front direction of the approaching target user may be the opposing angle α. That is, as the favorability becomes lower, the head 102 may be rotated left or right to turn the head 102 (face) of the robot 100 away from the approaching target user.

As described above, in the approach mode determination table shown in FIG. 5, the robot 100 executes a favorable action such as quickly approaching a user with a high likability, while The approach mode is set to perform unfavorable actions such as moving over time and stopping approaching at a distant position. In addition, in the approach mode determination table, a preferential action or a non-prioritized action may be set according to the degree (level) of favorability.

Furthermore, even if the user action recognition unit 114 does not recognize the user action, the response control unit 116 determines whether or not the robot 100 will perform a spontaneous action (hereinafter referred to as "spontaneous action"). Then, when it is determined that the action is to be performed, the mode of reception for performing the spontaneous action is determined according to the favorability. When determining whether or not to perform a spontaneous action, for example, the time during which the user action recognition unit 114 does not recognize the user action, that is, the time during which the target user does not act on the robot 100 is a predetermined time (for example, 30 minutes). Minutes) Continuation, etc. may be used as a determination condition. Spontaneous actions include utterances that encourage the target user to communicate with the robot (e.g., "What are you doing?", "Let's have a conversation, etc.") and actions (e.g., hand gestures to attract the target user's attention). shaking motion, etc.), and the contents of the utterance and the extent of the motion are appropriately adjusted according to the favorability. It should be noted that irrespective of the presence or absence of user behavior and whether or not an approach condition is satisfied, a target user with a high favorable rating may be approached voluntarily.

The user recognition unit 111, the face recognition unit 112, the voice recognition unit 113, the user action recognition unit 114, the favorability setting unit 115, and the reception control unit 116 may realize their respective functions with a single computer, Each function may be implemented by a separate computer.

The storage unit 120 includes a rewritable non-volatile semiconductor memory, hard disk drive, etc., and stores various data necessary for the control unit 110 to control each unit of the robot 100 . The storage unit 120 stores, for example, the above-described user behavior table, favorability setting table, approach mode determination table, and the like in a predetermined storage area. The storage unit 120 functions as recording means of the present invention.

The storage unit 120 also has a plurality of databases each storing various data. The storage unit 120 has, for example, a user information DB 121, a speech recognition DB 122, and a conversation information DB 123.

The user information DB 121 accumulates and stores various types of information about registered users as user information. The user information includes, for example, user identification information assigned in advance to identify the user, facial feature information indicating the feature amount of the user's face, voice feature information indicating the feature amount of the user's voice, user Includes history information such as actions and favorability points, and current favorability ratings.

The speech recognition DB 122 stores speech recognition data used for speech recognition processing. The speech recognition data includes, for example, an acoustic model representing the characteristics (frequency characteristics) of each phoneme, which is the minimum unit of sound that distinguishes the meaning from other words, a word dictionary that associates the characteristics of the phoneme with words, and a list of words. and a language model representing its concatenation probabilities.

The dialogue information DB 123 stores dialogue information necessary for the response control unit 116 to generate voice data relating to responses and utterances of the robot 100 in dialogue with the user. The dialogue information includes, for example, response information used to generate a response of the robot 100 to the user's utterance, utterance information used to generate an utterance of the robot 100 when spontaneously speaking to the user, and the response of the robot 100. and speech synthesis information used to generate speech data representing the synthesized speech waveform of the utterance. As the response information, for example, text data indicating the content of the user's utterance and text data indicating the content of the response of the robot 100 are associated with each other. The utterance information includes, for example, text data indicating the utterance content of the robot 100 . In addition, the speech synthesis information includes, for example, speech data indicating the speech waveform of each phoneme used for voicing text data.

The imaging unit 130 is configured by a camera having an imaging device such as a lens, a CCD (Charge Coupled Device) image sensor, a CMOS (Complementary Metal Oxide Semiconductor) image sensor, or the like, and images the surroundings of the robot 100 . The imaging unit 130 is installed, for example, in the front upper part of the head 102, images the front of the head 102, and generates and outputs digital image data. The camera is mounted on a motorized mount (such as a gimbal) operable to change the direction in which the lens points, and is configured to be able to track the user's face or the like. The imaging unit 130 functions as imaging means of the present invention.

The sensor unit 140 acquires information (physical quantity) indicating the external state and internal state of the robot 100 , converts it into a predetermined signal as appropriate, and supplies the signal to the control unit 110 . The sensor unit 140 includes various sensors such as a touch sensor that detects pressure received by a user's contact, an acceleration sensor that detects acceleration of the robot 100, and a temperature/humidity sensor that detects external temperature and humidity. A touch sensor is arranged, for example, in the upper part of the head 102 in order to recognize a user's physical action such as "stroking" or "hitting" according to the magnitude of the contact pressure. Note that an acceleration sensor may be used to detect contact strength from acceleration in three mutually orthogonal directions.

The moving part 150 is a part that enables the robot 100 to move. The moving unit 150 includes, for example, wheels provided on the bottoms of the left and right legs 104 of the robot 100, motors that rotationally drive the left and right wheels, and drive circuits that drive and control the motors. According to the control signal received from the control unit 110, the drive circuit supplies the motor with a pulse signal for driving. The motor rotates the left and right wheels according to the drive pulse signal to move the robot 100 . In this way, the moving section 150 functions as the moving means of the present invention. Any number of motors may be used as long as the left and right wheels are configured to rotate independently and the robot 100 can move forward, backward, turn, accelerate and decelerate. For example, a single motor may drive the left and right wheels by providing a coupling mechanism or a steering mechanism. Also, the number of drive circuits can be appropriately changed according to the number of motors.

The action unit 160 is a part that performs a predetermined action under the control of the control unit 110 . The operating unit 160 includes driven members such as the head 102, hand 103, and foot 104, drive members such as actuators that drive the driven members, and a drive circuit that drives and controls the drive members. . Under the control of the control unit 110 (response control unit 116), the driving member drives the driven member in accordance with the drive signal supplied from the drive circuit. Make a motion to swing left and right. In this way, the operating section 160 functions as operating means of the present invention.

The voice input unit 170 is composed of a microphone unit composed of a plurality of microphones, an A/D (Analog to Digital) converter, and the like. is amplified, and digital audio data (audio information) subjected to signal processing such as A/D conversion and encoding is output to the control unit 110 . The voice input section 170 functions as voice input means of the present invention.

The audio output unit 180 includes a speaker, a D/A (Digital to Analog) converter, etc., and performs decoding, D/A conversion, amplification, etc. on the audio data supplied from the control unit 110 (response control unit 116). After signal processing, an analog audio signal is output from a speaker installed at the mouth 106, for example. Thus, the audio output unit 180 functions as audio output means of the present invention.

Next, the response control process executed by the robot 100 will be described with reference to the flowchart shown in FIG. The response control process is a process for controlling the behavior of the robot 100 so that the robot 100 responds to the target user in a mode of response according to the favorable impression. The control unit 110 starts response control processing when the user recognition unit 111 recognizes a user present around the robot 100 .

When starting the reception control process, the control unit 110 first sets the favorability rating for the target user (step S101). The control unit 110 (favorability setting unit 115) refers to the user behavior table and the positivity setting table stored in the storage unit 120, and by specifying the positivity level associated with the positivity point, the target Sets the user's favorability. Note that the positivity setting unit 115 may refer to the user information DB 121 to acquire the preset current positivity included in the user information of the target user.

Next, the control unit 110 determines whether or not the target user exists around the robot 100 (step S102). The control unit 110 checks whether or not the target user still exists around based on the captured image captured by the imaging unit 130 . When determining that the target user does not exist around the robot 100 (step S102: NO), the control unit 110 terminates the reception control process.

On the other hand, when it is determined that the target user exists around the robot 100 (step S102: YES), the control unit 110 determines whether or not the user's behavior has been recognized (step S103). The control unit 110 (user action recognition unit 114) newly recognizes user actions based on, for example, the user's utterance content recognized by the voice recognition unit 113, the contact intensity detected by the touch sensor of the sensor unit 140, and the like. It is determined according to whether or not

When determining that the user action is not recognized (step S103: NO), the control unit 110 determines whether or not to execute spontaneous action (step S104). The control unit 110 (response control unit 116) determines, for example, whether or not the time during which the user action recognition unit 114 does not recognize the user action continues for a predetermined period of time. If it is determined not to perform the spontaneous action (step S104: NO), the control unit 110 returns the process to step S102 and confirms whether or not the target user still exists around.

If it is determined in step S103 that the user's behavior has been recognized (step S103: YES), the control unit 110 (response control unit 116) determines whether or not the approach condition is satisfied (step S105). The response control unit 116 determines, for example, whether or not the target user calls the robot 100 to his or her vicinity.

After executing step S105, or when it is determined to execute a spontaneous action in step S104 (step S104: YES), the control unit 110 (reception control unit 116) determines a reception mode according to the favorability (step S106). The response control unit 116, based on the determination result of step S104 (determination result of executing the spontaneous action) and the determination result of step S105 (determination result of whether or not the approach condition is satisfied), responds according to the favorability. to decide.

When it is determined in step S104 that a spontaneous action is to be performed, the response control unit 116 appropriately adjusts the utterance content and the extent of the action according to the favorable rating set in step S101, and prepares a response for performing the spontaneous action. determine the modality.

When it is determined in step S105 that the approach condition is not satisfied, the response control unit 116 determines a response mode for executing an action in response to the user action recognized in step S103 according to the favorability.

When it is determined in step S105 that the approaching condition is satisfied, the response control unit 116 sets, as the response mode, the moving route and moving speed during approaching the approaching user, the facing distance from the approaching user at the end of the approach, and the user. determine at least one of the facing attitudes during approaching or at the end of approaching facing the

Subsequently, the control unit 110 controls each unit to perform various actions based on the manner of reception determined in step S106 (step S107). When the response control unit 116 determines the response mode for executing the spontaneous action in step S106 according to the favorability rating, the response control unit 116 controls each section based on the response mode to perform the spontaneous action. For example, if the response mode related to the spontaneous action is an utterance that prompts the target user to communicate with the robot 100, voice data indicating the content of the utterance is generated, and the voice output unit 180 is controlled to convert the generated voice data into Outputs audio based on

If the response control unit 116 determines in step S106 a response mode for executing a response action to the user behavior recognized in step S103 without satisfying the approach condition, based on the response mode, Each part is controlled to execute a response action. For example, if the response behavior related to the response behavior is an utterance in response to the target user's greeting, voice data indicating the content of the utterance is generated, and the voice output unit 180 is controlled to output voice based on the generated voice data. Output.

In step S106, the response control unit 116 satisfies the approach condition, determines the moving path and moving speed while approaching the approaching user, the facing distance to the approaching user when the approaching ends, and the approaching or When at least one of the facing attitudes at the end of the approach is determined, based on the manner of response, the moving part 150 and the action part 160 are controlled to execute the approaching action.

After executing step S107, the control unit 110 returns the process to step S102 and checks whether the target user still exists around.

As described above, according to the present embodiment, the robot 100 determines the mode of response according to the user's favorability, and controls each part based on the determined mode of response to perform various actions. Run. For example, when a predetermined approach condition is satisfied, the response control unit 116 sets, as a response mode, the movement path and movement speed when approaching the user who is the approach target, and the facing of the approach target user when the approach ends. At least one of the distance and the attitude toward the user while approaching or at the end of approaching is determined according to the favorability, and the approach action is executed based on the determined manner of handling. Thereby, it is possible to improve the response according to the favorability.

Also, the robot 100 determines a response mode related to a response action to a user action according to the favorability, and executes the response action based on the determined response mode, even when the approach condition is satisfied. Furthermore, the manner of responding to the spontaneous action is determined according to the favorability, and the spontaneous behavior is executed based on the determined manner of responding. Thereby, it is possible to improve the response according to the favorability.

The present invention is not limited to the above-described embodiments, and various modifications and applications are possible. The above embodiment may be modified as follows.

In the above-described embodiment, the positivity setting unit (positivity acquisition unit) 115 sets or acquires the positivity for a predetermined target recognized by the user recognition unit 111, and the positivity setting unit (positivity acquisition unit) A response control unit (approach control unit) 116 determines the manner of approaching a predetermined target based on the likability for the predetermined target set or acquired by 115 . However, the present invention is not limited to this. may be determined.

For example, when the user recognition unit 111 recognizes another user different from the user to be approached on the movement route, the liking setting unit 115 sets the liking for the other user, and the reception control unit 116 , the approach target user's response mode and the other user's response mode may be determined according to the favorability of the other user. In this case, the response control unit 116 determines a detour route (passage route) for avoiding other users and passing through the movement route determined as the response mode of the approaching user. Here, the approach target user is an example of the predetermined target of the present invention, and the other user is an example of another target of the present invention.

To explain with reference to FIG. 12, when another user UR' exists on the moving route MR approaching the approaching target user UR, the response control unit 116 avoids the other user UR' when passing through. Then, a new moving route MR is determined that forms a detour route (passing route) DR. At this time, the response control unit 116 forms a detour route DR according to the favorability of the other user UR'. For example, when another user UR' has a high favorable rating, the response control unit 116 forms a detour route DR so as to pass right by the other user UR', thereby increasing the favorable rating of the other user UR'. is low, a detour route DR that goes around the other user UR' is formed. In addition, the response control unit 116 determines the movement posture when the robot 100 passes through the detour route DR, as a mode of response to the other user UR', according to the favorable impression of the other user UR'. As for the movement posture, for example, when the other user UR' has a high favorable rating, the response control unit 116 changes the front direction of the head 102 (face) of the robot 100 when passing the detour route DR. (Robot 100 looks at another user UR'), and if the favorability of another user UR' is low, robot The front direction of the head 102 (face part) of 100 is made not to face another user UR' (to face away). As a result, it is possible to produce various expressions according to the favorable impression, and to further improve the response according to the favorable impression.

In the above-described embodiment, the robot 100 includes a communication unit having, for example, a wireless communication module, etc., and stores various data stored in the storage unit 120 using a cloud system built on the Internet. These data may be appropriately accessed from.

Further, the robot 100 is provided with a display unit configured by a display device such as an LCD (Liquid Crystal Display), a PDP (Plasma Display Panel), an organic EL (Electro-Luminescence) display, or the like, so that it is possible to respond to each user. It may be further diversified. For example, the robot 100 may be provided with a display section in the eye section 105, and the facial expression of the robot 100 may be produced by displaying images expressing different eyes according to the favorability.

In the embodiment described above, the control program executed by the CPU of the control unit 110 is stored in the ROM or the like in advance. However, the present invention is not limited to this. It may function as a device corresponding to the robot 100 according to the form.

The method of providing such a program is arbitrary, and for example, storing and distributing it in a computer-readable recording medium (flexible disc, CD (Compact Disc)-ROM, DVD (Digital Versatile Disc)-ROM), etc. Alternatively, the program may be stored in storage on a network such as the Internet and provided by downloading the program.

Further, when the above-described processing is performed by an OS (Operating System) and an application program, or by cooperation between the OS and an application program, only the application program may be stored in a recording medium or storage. It is also possible to superimpose a program on a carrier wave and distribute it via a network. For example, the program may be posted on a bulletin board system (BBS) on the network and distributed via the network. Then, the distributed program may be activated and executed in the same manner as other application programs under the control of the OS so that the above processing can be executed.

The present invention is capable of various embodiments and modifications without departing from the broader spirit and scope of the invention. Moreover, the embodiments described above are for explaining the present invention, and do not limit the scope of the present invention. That is, the scope of the present invention is indicated by the claims rather than the embodiments. Various modifications made within the scope of the claims and within the meaning of the invention equivalent to the scope of the claims are considered to be within the scope of the present invention.

The invention described in the original claims of the present application is appended below.

(Appendix)
(Appendix 1)
recognition means for recognizing a predetermined target;
determining means for determining an approaching manner during approaching the predetermined target based on the liking for the predetermined target recognized by the recognizing means;
a control means for controlling the apparatus to express an emotion to the predetermined object according to the approach mode determined by the determining means while the apparatus is approaching the predetermined object;
comprising
A robot characterized by:

(Appendix 2)
further comprising a moving means for moving the own device,
The manner of approach while approaching the predetermined target includes an approach route,
The control means controls the moving means so that the predetermined object expresses the emotion according to the determined approach route while the predetermined object is being approached.
The robot according to appendix 1, characterized by:

(Appendix 3)
further comprising operation means for causing the self-device to operate;
the manner of approach while approaching the predetermined target includes an approach posture;
The control means controls the action means so that the predetermined object expresses the emotion according to the determined approaching posture while the predetermined object is being approached.
The robot according to appendix 1 or 2, characterized by:

(Appendix 4)
an imaging means for imaging an image;
face recognition means for performing face recognition by detecting a face from the image captured by the imaging means;
voice input means for inputting voice;
voice recognition means for performing voice recognition from voice input by the voice input means;
further comprising
the recognition means recognizes the predetermined target by the face recognition means and/or the voice recognition means;
4. The robot according to any one of Appendices 1 to 3, characterized by:

(Appendix 5)
acquisition means for acquiring the favorable rating for the predetermined target recognized by the recognition means;
Action recognition means for recognizing the action of the predetermined target with respect to the own device;
further comprising
The acquisition means acquires the favorable rating according to the behavior of the predetermined target recognized by the behavior recognition means.
5. The robot according to any one of Appendices 1 to 4, characterized by:

(Appendix 6)
The acquisition means is
If the action of the predetermined target recognized by the action recognition means is a favorable action, the degree of favorable rating is increased from the current favorable rating, and if the action is not favorable, the lowering the degree of favorability below the current favorability,
The robot according to appendix 5, characterized by:

(Appendix 7)
Further comprising recording means for recording information,
The recording means
When the behavior of the predetermined target recognized by the behavior recognition means is the favorable behavior, the favorable rating is recorded higher than a threshold, and when the behavior is not favorable, the favorable rating is recorded. is recorded below the threshold,
The acquisition means acquires the favorable impression of the predetermined target via the recording means.
The robot according to appendix 6, characterized by:

(Appendix 8)
The action recognition means is
when the device is stroked by the predetermined object, or when the device is spoken to by the predetermined object, recognizing that the behavior of the predetermined object is the favorable behavior;
When the device is hit by the predetermined target, or when the device is ignored by the predetermined target, the behavior of the predetermined target is recognized as not the favorable behavior.
The robot according to appendix 6 or 7, characterized by:

(Appendix 9)
The control means determines, as the manner of approach during approach to the predetermined object, an approach route, an approach speed, an opposing angle, and an approach attitude when the self-apparatus approaches the predetermined object based on the favorability. decide,
The robot according to appendix 1, characterized by:

(Appendix 10)
While the control means is approaching the predetermined target,
When the favorability is higher than a threshold, a first approach angle corresponding to a first approach posture facing the predetermined target head-on on a straight first approach path at a first approach speed. and controlling the self-device so that the self-device approaches the predetermined target,
When the favorability is lower than the threshold value, a meandering second approach route, a second approach speed slower than the first approach speed, and a second approach speed that does not face the predetermined target head-on. controlling the self-device so that the self-device approaches the predetermined target at a second facing angle corresponding to the approach posture;
The robot according to appendix 9, characterized by:

(Appendix 11)
The control means, while approaching the predetermined object, as the emotional expression,
controlling the self-device to perform a favorable action or a preferential action for the predetermined target when the favorability is higher than a threshold;
If the favorable impression is lower than the threshold, controlling the own device to perform an action that is not favorable or preferential to the predetermined target;
The robot according to appendix 1, characterized by:

(Appendix 12)
The control means, while approaching the predetermined target, changes the degree of the favorable action or the degree of the preferential action with respect to the predetermined target according to the likability.
The robot according to appendix 11, characterized by:

(Appendix 13)
The control means, while approaching the predetermined target, changes the degree of the unfavorable action or the degree of the non-preferential action with respect to the predetermined target according to the likability.
13. The robot according to appendix 11 or 12, characterized by:

(Appendix 14)
the predetermined target includes a human or animal or other robot;
14. The robot according to any one of appendices 1 to 13, characterized by:

(Appendix 15)
When the recognition means recognizes another target different from the predetermined target while approaching the predetermined target,
The determining means determines a passing mode during passage for the other object based on the other favorable impression of the other object recognized by the recognizing means,
The control means controls the own device to express another emotion to the other object in accordance with the passage mode determined by the determination means during passage to the other object.
The robot according to appendix 1, characterized by:

(Appendix 16)
The control means is
Determining a passage route for avoiding the other object and passing through the other object as the passage mode to the other object;
16. The robot according to appendix 15, characterized by:

(Appendix 17)
The control means is
Determining a passing posture when passing through the passing route as the passing manner to the other object;
The robot according to appendix 16, characterized by:

(Appendix 18)
said other subject comprises a human or animal or other robot;
18. The robot according to any one of appendices 15 to 17, characterized in that:

(Appendix 19)
a recognition step of recognizing a predetermined target;
a determination step of determining an approach mode during approach to the predetermined target based on the likability of the predetermined target recognized in the recognition step;
a control step of controlling the robot to express an emotion toward the predetermined object according to the manner of approach determined in the determining step while the robot is approaching the predetermined object;
including,
A robot control method characterized by:

(Appendix 20)
to the robot's computer
a recognition process for recognizing a predetermined target;
a determination process of determining an approach state during approach to the predetermined target based on the likability for the predetermined target recognized by the recognition process;
a control process for controlling the robot to express an emotion toward the predetermined target according to the approach mode determined by the determination process while the robot is approaching the predetermined target;
to run
A program characterized by

DESCRIPTION OF SYMBOLS 100... Robot, 101... Body part, 102... Head, 103... Hand part, 104... Foot part, 105... Eye part, 106... Mouth part, 110... Control part, 111... User recognition part, 112... Face recognition part , 113... Voice recognition unit, 114... User action recognition unit, 115... Favorability setting unit (favorability acquisition unit), 116... Response control unit (approach control unit), 120... Storage unit, 121... User information DB, 122 Voice recognition DB 123 Dialogue information DB 130 Imaging unit 140 Sensor unit 150 Moving unit 160 Operating unit 170 Voice input unit 180 Voice output unit BL Bus line DR detour route (passing route), MR...moving route (approaching route), RD...front direction, UD...front direction, UR...approaching user (predetermined target), UR'...other user (other target)

Claims (22)

recognition means for recognizing a predetermined target;
Based on the likability of the predetermined target recognized by the recognition means, as an approach mode during approaching the predetermined target, an approach route, an approach speed, and an opposing direction when the device approaches the predetermined target. Determining means for determining the angle and approach attitude ;
a control means for controlling the self -apparatus to express an emotion toward the predetermined object according to the manner of approach determined by the determination means while the apparatus is approaching the predetermined object;
with
The control means is
When the favorability is higher than a threshold, a first approach angle corresponding to a first approach posture facing the predetermined target head-on on a straight first approach path at a first approach speed. and controlling the self-device so that the self-device approaches the predetermined target,
When the favorability is lower than the threshold value, a meandering second approach route, a second approach speed slower than the first approach speed, and a second approach speed that does not face the predetermined target head-on. controlling the self-device so that the self-device approaches the predetermined target at a second facing angle corresponding to the approach posture;
A robot characterized by: 2. The robot according to claim 1, further comprising moving means for moving said own device. 3. The robot according to claim 1, further comprising operating means for causing said own device to operate. an imaging means for imaging an image;
face recognition means for performing face recognition by detecting a face from the image captured by the imaging means;
voice input means for inputting voice;
voice recognition means for performing voice recognition from voice input by the voice input means;
further comprising
the recognition means recognizes the predetermined target by the face recognition means and/or the voice recognition means;
4. The robot according to any one of claims 1 to 3, characterized in that: acquisition means for acquiring the favorable rating for the predetermined target recognized by the recognition means;
Action recognition means for recognizing the action of the predetermined target with respect to the own device;
further comprising
The acquisition means acquires the favorable rating according to the behavior of the predetermined target recognized by the behavior recognition means.
5. The robot according to any one of claims 1 to 4, characterized in that: The acquisition means is
If the action of the predetermined target recognized by the action recognition means is a favorable action, the degree of favorable rating is increased from the current favorable rating, and if the action is not favorable, the lowering the degree of favorability below the current favorability,
6. The robot according to claim 5, characterized in that: Further comprising recording means for recording information,
The recording means
When the behavior of the predetermined target recognized by the behavior recognition means is the favorable behavior, the favorable rating is recorded higher than a threshold, and when the behavior is not favorable, the favorable rating is recorded. is recorded below the threshold,
The acquisition means acquires the favorable impression of the predetermined target via the recording means.
7. The robot according to claim 6, characterized by: The action recognition means is
when the device is stroked by the predetermined object, or when the device is spoken to by the predetermined object, recognizing that the behavior of the predetermined object is the favorable behavior;
When the device is hit by the predetermined target, or when the device is ignored by the predetermined target, the behavior of the predetermined target is recognized as not the favorable behavior.
8. The robot according to claim 6 or 7, characterized in that: recognition means for recognizing a predetermined target;
determining means for determining an approaching manner during approaching the predetermined target based on the liking for the predetermined target recognized by the recognizing means;
a control means for controlling the apparatus to express an emotion to the predetermined object according to the approach mode determined by the determining means while the apparatus is approaching the predetermined object;
with
The control means, while approaching the predetermined object, as the emotional expression,
controlling the self-device to perform a favorable action toward the predetermined target when the favorability is higher than a threshold;
controlling the self-device to perform an action unfavorable to the predetermined target when the favorability is lower than the threshold;
A robot characterized by: The control means, while approaching the predetermined target, changes the degree of the favorable action with respect to the predetermined target according to the likability.
10. The robot according to claim 9 , characterized by: The control means, while approaching the predetermined target, changes the degree of the unfavorable action toward the predetermined target according to the favorable sensitivity.
11. The robot according to claim 9 or 10 , characterized in that: the predetermined target includes a human or animal or other robot;
12. The robot according to any one of claims 1 to 11 , characterized in that: recognition means for recognizing a predetermined target;
determining means for determining an approaching manner during approaching the predetermined target based on the liking for the predetermined target recognized by the recognizing means;
a control means for controlling the apparatus to express an emotion to the predetermined object according to the approach mode determined by the determining means while the apparatus is approaching the predetermined object;
with
When the recognition means recognizes another target different from the predetermined target while approaching the predetermined target,
The determining means determines a passing mode during passage for the other object based on the other favorable impression of the other object recognized by the recognizing means,
The control means controls the own device to express another emotion to the other object in accordance with the passage mode determined by the determination means during passage to the other object.
A robot characterized by: The control means is
Determining a passage route for avoiding the other object and passing through the other object as the passage mode to the other object;
14. The robot according to claim 13 , characterized by: The control means is
Determining a passing posture when passing through the passing route as the passing manner to the other object;
15. The robot according to claim 14 , characterized by: said other subject comprises a human or animal or other robot;
16. The robot according to any one of claims 13 to 15 , characterized in that: a recognition step of recognizing a predetermined target;
An approach path and an approach speed when the robot approaches the predetermined object as an approach mode of the robot that is approaching the predetermined object, based on the likability for the predetermined object recognized in the recognition step , the facing angle and the approaching attitude ;
a control step of controlling the robot to express an emotion toward the predetermined object according to the manner of approach determined in the determining step while the robot is approaching the predetermined object;
In the control step,
When the favorability is higher than a threshold, a first approach angle corresponding to a first approach posture facing the predetermined target head-on on a straight first approach path at a first approach speed. and controlling the robot so that the robot approaches the predetermined target,
When the favorability is lower than the threshold value, a meandering second approach route, a second approach speed slower than the first approach speed, and a second approach speed that does not face the predetermined target head-on. controlling the robot so that the robot approaches the predetermined target at a second facing angle corresponding to the approach posture;
A robot control method characterized by: a recognition step of recognizing a predetermined target;
a determination step of determining an approach mode during approach to the predetermined target based on the likability of the predetermined target recognized in the recognition step;
a control step of controlling the robot to express an emotion toward the predetermined object according to the manner of approach determined in the determining step while the robot is approaching the predetermined object;
In the control step, during the approach to the predetermined target, as the emotional expression,
controlling the robot to perform a favorable action toward the predetermined target when the favorable rating is higher than a threshold;
controlling the robot to perform an unfavorable action toward the predetermined target when the favorable rating is lower than the threshold;
A robot control method characterized by: a recognition step of recognizing a predetermined target;
a determination step of determining an approach mode during approach to the predetermined target based on the likability of the predetermined target recognized in the recognition step;
a control step of controlling the robot to express an emotion toward the predetermined object according to the manner of approach determined in the determining step while the robot is approaching the predetermined object;
When another target different from the predetermined target is recognized while approaching the predetermined target,
Determining a transit mode during transit for the other object based on the perceived other likability for the other object,
controlling the robot to express another emotion to the other object in accordance with the determined passage mode during the passage to the other object;
A robot control method characterized by: to the robot's computer
a recognition process for recognizing a predetermined target;
Based on the likability for the predetermined object recognized by the recognition process, as an approach mode during approaching the predetermined object, an approach route, an approach speed, and an opposing position when the robot approaches the predetermined object. determination processing for determining an angle and an approach posture ;
a control process for controlling the robot to express an emotion toward the predetermined target according to the approach mode determined by the determination process while the robot is approaching the predetermined target;
and
In the control process,
When the favorability is higher than a threshold, a first approach angle corresponding to a first approach posture facing the predetermined target head-on on a straight first approach path at a first approach speed. and controlling the robot so that the robot approaches the predetermined target,
When the favorability is lower than the threshold value, a meandering second approach route, a second approach speed slower than the first approach speed, and a second approach speed that does not face the predetermined target head-on. controlling the robot so that the robot approaches the predetermined target at a second facing angle corresponding to the approach posture ;
A program characterized by to the robot's computer
a recognition process for recognizing a predetermined target;
a determination process of determining an approach state during approach to the predetermined target based on the likability for the predetermined target recognized by the recognition process;
a control process for controlling the robot to express an emotion toward the predetermined target according to the approach mode determined by the determination process while the robot is approaching the predetermined target;
and
In the control process, during the approach to the predetermined object, as the emotional expression,
controlling the robot to perform a favorable action toward the predetermined target when the favorable rating is higher than a threshold;
controlling the robot to perform an unfavorable action toward the predetermined target when the favorable rating is lower than the threshold;
A program characterized by to the robot's computer
a recognition process for recognizing a predetermined target;
a determination process of determining an approach state during approach to the predetermined target based on the likability for the predetermined target recognized by the recognition process;
a control process for controlling the robot to express an emotion toward the predetermined target according to the approach mode determined by the determination process while the robot is approaching the predetermined target;
and
When another target different from the predetermined target is recognized while approaching the predetermined target,
Determining a transit mode during transit for the other object based on the perceived other likability for the other object,
controlling the robot to express another emotion to the other object in accordance with the determined passage mode during the passage to the other object;
A program characterized by

Images