Patent Application
20180009118
The present invention relates to a technique for controlling a robot to transition to a user's speech listening mode.
A robot that talks with a human, listens to a human talk, records or delivers a content of the talk, or operates in response to a human voice has been developed.
Such a robot is controlled to operate naturally while transitioning between a plurality of operation modes such as an autonomous mode of operating autonomously, a standby mode in which the autonomous operation, an operation of listening to a speech of a human, or the like is not carried out, and a speech listening mode of listening to a speech of a human.
In such a robot, a problem is how to detect a timing when a human intends to speak to the robot and how to accurately transition to an operation mode of listening to a speech of a human.
It is desirable for a human who is a user of a robot to freely speak to the robot at any timing when the human desires to speak to the robot. As a simple method for implementing this, there is a method in which a robot constantly continues to listen to a speech of a user (constantly operates in the speech listening mode). However, when the robot constantly continues to listen, the robot may react to a sound unintended by a user, due to an effect of an environmental sound, such as a sound from a nearby television, and a conversation with another human, which may lead to a malfunction.
In order to avoid such a malfunction due to the environmental sound, for example, a robot that starts listening to a normal speech other than a keyword, for example, upon depression of a button by a user, or upon recognition of a speech with a certain volume or more, a speech including a predetermined keyword (such as a name of the robot), or the like, as an opportunity, is implemented.
PTL 1 discloses a transition model of an operation state in a robot.
PTL 2 discloses a robot that reduces occurrence of a malfunction by improving accuracy of speech recognition.
PTL 3 discloses a robot control method in which, for example, a robot calls out or makes a gesture for attracting attention or interest, to thereby suppress a sense of compulsion felt by a human.
PTL 4 discloses a robot capable of autonomously controlling behavior depending on a surrounding environment, a situation of a person, or a reaction of a person.
PTL 4: Japanese Patent Application Laid-open Publication No. 2008-254122
As described above, in order to avoid a malfunction in a robot due to an environmental sound, the robot may be provided with a function of starting listening to a normal speech, for example, upon depression of a button by a user, or upon recognition of a speech including a keyword, and the like, as an opportunity.
However, with such a function, the robot can start listening to a speech (transition to the speech listening mode) by accurately recognizing a user's intention, while the user needs to depress a button, or make a speech including a predetermined keyword, every time the user starts a speech, which is troublesome to the user. It is also troublesome to the user that the user needs to memorize the button to be depressed, or the keyword. Thus, the above-mentioned function has a problem that a user is required to perform a troublesome operation so as to transition to the speech listening mode by accurately recognizing the user's intention.
With regard to the robot described in PTL 1 mentioned above, the robot transitions from a self-directed mode or the like of executing a task that is not based on a user's input, to an engagement mode of engaging with the user, based on a result of observing and analyzing behavior or a state of the user. However, PTL 1 does not disclose a technique for transitioning to the speech listening mode by accurately recognizing a user's intension, without requiring the user to perform a troublesome operation.
Further, the robot described in PTL 2 includes a camera, a human detection sensor, a speech recognition unit, and the like, determines whether a person is present, based on information obtained from the camera or the human detection sensor, and activates a result of speech recognition by the speech recognition unit when it is determined that a person is present. However, in such a robot, the result of speech recognition is activated regardless of whether or not a user desires to speak to the robot, so that the robot may perform an operation against the user's intention.
Further, PTLs 3 and 4 disclose a robot that performs an operation for attracting a user's attention or interest, and a robot that performs behavior depending on a situation of a person, but do not disclose any technique for starting listening to a speech by accurately recognizing a user's intention.
The present invention has been made in view of the above-mentioned problems, and a main object of the present invention is to provide a robot control device and the like that improve an accuracy with which a robot starts listening to a speech without requiring a user to perform an operation.
A robot control device according to one aspect of the present invention includes:
action execution means for determining, when a human is detected, an action to be executed on the human and controlling a robot to execute the action;
determination means for determining, when a reaction of the human for the action determined by the action execution means is detected, whether the human is likely to speak to the robot, based on the reaction; and
operation control means for controlling an operation mode of the robot, based on a result of determination by the determination means.
A robot control method according to one aspect of the present invention includes:
determining, when a human is detected, an action to be executed on the human and controlling a robot to execute the action;
determining, when a reaction of the human for the action determined is detected, whether the human is likely to speak to the robot, based on the reaction; and
controlling an operation mode of the robot, based on a result of determination.
Note that the object can be also accomplished by a computer program that causes a computer to implement a robot or a robot control method having the above-described configurations, and a computer-readable recording medium that stores the computer program.
According to the present invention, an advantageous effect that an accuracy with which a robot starts listening to a speech can be improved without requiring a user to perform an operation, can be obtained.
Example embodiments of the present invention will be described in detail below with reference to the drawings.
The head 220 includes a microphone 141, a camera 142, and an expression display 152. The trunk 210 includes a speaker 151, a human detection sensor 143, and a distance sensor 144. The microphone 141, the camera 142, and the expression display 152 are provided on the head 220, and the speaker 151, the human detection sensor 143, and the distance sensor 144 are provided on the trunk 210. However, the locations of these components are not limited to these locations.
The human 20 is a user of the robot 100. This example embodiment assumes that one human 20 who is a user is present near the robot 100.
The processor 10 is implemented by an arithmetic processing unit such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit).
The processor 10 loads various computer programs stored in the ROM 12 or the storage 14 into the RAM 11 and executes the loaded programs to thereby control the overall operation of the robot 100. Specifically, in this example embodiment and the subsequent example embodiments described below, the processor 10 executes computer programs for executing each function (each unit) included in the robot 100 while referring to the ROM 12 or the storage 14 as needed.
The I/O device 13 includes an input device such as a microphone, and an output device such as a speaker (details thereof are described later).
The storage 14 may be implemented by a storage device such as a hard disk, an SSD (Solid State Drive), or a memory card. The reader/writer 15 has a function for reading or writing data stored in a recording medium 16 such as a CD-ROM (Compact_Disc_Read_Only_Memory).
The robot control device 101 is a device that receives information from the input device 140, performs processing as described later, and outputs an instruction to the output device 150, thereby controlling the operation of the robot 100. The robot control device 101 includes a detection unit 110, a transition determination unit 120, a transition control unit 130, and a memory unit 160.
The detection unit 110 includes a human detection unit 111 and a reaction detection unit 112. The transition determination unit 120 includes a control unit 121, an action determination unit 122, a drive instruction unit 123, and an estimation unit 124.
The memory unit 160 includes human detection pattern information 161, reaction pattern information 162, action information 163, and determination criteria information 164.
The input device 140 includes a microphone 141, a camera 142, a human detection sensor 143, and a distance sensor 144.
The output device 150 includes a speaker 151, an expression display 152, a head drive circuit 153, an arm drive circuit 154, and a leg drive circuit 155.
The robot 100 is controlled by the robot control device 101 to operate while transitioning between a plurality of operation modes, such as an autonomous mode of operating autonomously, a standby mode in which the autonomous operation, an operation for listening to a speech of a human, or the like is not carried out, and a speech listening mode of listening to a speech of a human. For example, in the speech listening mode, the robot 100 receives the caught (acquired) voice as a command and operates according to the command. In the following description, an example in which the robot 100 transitions from the autonomous mode to the speech listening mode will be described. Note that the autonomous mode or the standby mode may be referred to as a second mode, and the speech listening mode may be referred to as a first mode.
An outline of each component will be described.
The microphone 141 of the input device 140 has a function for catching a human voice, or capturing a surrounding sound. The camera 142 is mounted, for example, at a location corresponding to one of the eyes of the robot 100, and has a function for photographing surroundings. The human detection sensor 143 has a function for detecting the presence of a human near the robot. The distance sensor 144 has a function for measuring a distance from a human or an object. The term “surroundings” or “near” refers to, for example, a range in which a human voice or a sound from a television or the like can be acquired by the microphone 141, a range in which a human or an object can be detected from the robot 100 using an infrared sensor, an ultrasonic sensor, or the like, or a range that can be captured by the camera 142.
Note that a plurality of types of sensors, such as a pyroelectric infrared sensor and an ultrasonic sensor, can be used as the human detection sensor 143. Also as the distance sensor 144, a plurality of types of sensors, such as a sensor utilizing ultrasonic waves and a sensor utilizing infrared light, can be used. The same sensor may be used as the human detection sensor 143 and the distance sensor 144. Alternatively, instead of providing the human detection sensor 143 and the distance sensor 144, an image captured by the camera 142 may be analyzed by software to thereby obtain a configuration with similar functions.
The speaker 151 of the output device 150 has a function for emitting a voice when, for example, the robot 100 speaks to a human. The expression display 152 includes a plurality of LEDs (Light Emitting Diodes) mounted at locations corresponding to, for example, the cheeks or mouth of the robot, and has a function for producing expressions of the robot, such as a smiling expression or a thoughtful expression, by changing a light emitting method for the LEDs.
The head drive circuit 153, the arm drive circuit 154, and the leg drive circuit 155 are circuits that drive the head 220, the arms 230, and the legs 240 to perform a predetermined operation, respectively.
The human detection unit 111 of the detection unit 110 detects that a human comes close to the robot 100, based on information from the input device 140. The reaction detection unit 112 detects a reaction of the human for an action performed by the robot based on information from the input device 140.
The transition determination unit 120 determines whether or not the robot 100 transitions to the speech listening mode based on the result of detection of a human or detection of a reaction by the detection unit 110. The control unit 121 notifies the action determination unit 122 or the estimation unit 124 of the information acquired from the detection unit 110.
The action determination unit 122 determines the type of an approach (action) to be taken on the human by the robot 100. The drive instruction unit 123 sends a drive instruction to at least one of the speaker 151, the expression display 152, the head drive circuit 153, the arm drive circuit 154, and the leg drive circuit 155 so as to execute the action determined by the action determination unit 122.
The estimation unit 124 estimates whether or not the human 20 intends to speak to the robot 100 based on the reaction of the human 20 who is a user.
When it is determined that there is a possibility that the human 20 will speak to the robot 100, the transition control unit 130 controls the operation mode of the robot 100 to transition to the speech listening mode in which the robot 100 can listen to a human speech.
The human detection unit 111 of the detection unit 110 acquires information from the microphone 141, the camera 142, the human detection sensor 143, and the distance sensor 144 of the input device 140. The human detection unit 111 detects that the human 20 approaches the robot 100 based on the human detection pattern information 161 and a result of analyzing the acquired information (S201).
The human detection unit 111 continuously performs the above-mentioned detection until it is detected that a human approaches the robot, and when a human is detected (Yes in S202), the human detection unit 111 notifies the transition determination unit 120 that a human approaches the robot. When the transition determination unit 120 has received the above-mentioned notification, the control unit 121 instructs the action determination unit 122 to determine the type of an action. In response to the instruction, the action determination unit 122 determines the type of an action in which the robot 100 approaches the user, based on the action information 163 (S203).
The action is used to confirm whether or not the user intends to speak to the robot 100 when the human 20, who is a user, approaches the robot 100, based on the reaction of the user for the motion (action) of the robot 100.
Based on the action determined by the action determination unit 122, the drive instruction unit 123 sends an instruction to at least one of the speaker 151, the expression display 152, the head drive circuit 153, the arm drive circuit 154, and the leg drive circuit 155 of the robot 100. Thus, the drive instruction unit 123 moves the robot 100, controls the robot 100 to output a sound, or controls the robot 100 to change its expressions. In this manner, the action determination unit 122 and the drive instruction unit 123 control the robot 100 to execute the action of stimulating the user and eliciting (inducing) a reaction from the user.
Next, the reaction detection unit 112 acquires information from the microphone 141, the camera 142, the human detection sensor 143, and the distance sensor 144 of the input device 140. The reaction detection unit 112 carries out detection of the reaction of the user 20 for the action of the robot 100 based on the result of analyzing the acquired information and the reaction pattern information 162 (S204).
The reaction detection unit 112 notifies the transition determination unit 120 of the result of detecting the above-mentioned reaction. The transition determination unit 120 receives the notification in the control unit 121. When the reaction is detected (Yes in S205), the control unit 121 instructs the estimation unit 124 to estimate the intention of the user 20 based on the reaction. On the other hand, when the reaction of the user 20 cannot be detected, the control unit 121 returns the processing to S201 for the human detection unit 111, and when a human is detected again by the human detection unit 111, the control unit 121 instructs the action determination unit 122 to determine the action to be executed again. Thus, the action determination unit 122 attempts to elicit a reaction from the user 20.
The estimation unit 124 estimates whether or not the user 20 intends to speak to the robot 100 based on the reaction of the user 20 and the determination criteria information 164 (S206).
When the reaction detected by the reaction detection unit 112 matches at least one of information included in the determination criteria information 164, the estimation unit 124 can estimate that the user 20 intends to speak to the robot 100. In other words, in this case, the estimation unit 124 determines that there is a possibility that the user 20 will speak to the robot 100 (Yes in S207).
Upon determining that there is a possibility that the user 20 will speak to the robot 100, the estimation unit 124 instructs the transition control unit 130 to transition to the speech listening mode in which the robot can listen to the speech of the user 20 (S208). The transition control unit 130 controls the robot 100 to transition to the speech listening mode in response to the instruction.
On the other hand, when the estimation unit 124 determines that there is no possibility that the user 20 will speak to the robot 100 (No in S207), the transition control unit 130 terminates the processing without changing the operation mode of the robot 100. In other words, even if it is detected that a human is present in the surroundings, such as if a sound estimated to be a human voice is picked up by the microphone 141, the transition control unit 130 does not control the robot 100 to transition to the speech listening mode when the estimation unit 124 determines that there is no possibility that the human will speak to the robot 100 based on the reaction of the human. Thus, such a malfunction that the robot 100 performs an operation for a conversation between the user and another human can be prevented.
When the user's reaction satisfies only a part of the determination criteria, the estimation unit 124 determines that it is not determined the user 20 intends to speak to the robot but is not completely determined the user 20 will not speak to the robot. Then, the estimation unit 124 returns the processing to S201 in the human detection unit 111. Specifically, in this case, when the human detection unit 111 detects a human again, the action determination unit 122 determines which action to be executed again, and the drive instruction unit 123 controls the robot 100 to execute the determined action. Thus, a further reaction is elicited from the user 20, thereby improving the estimation accuracy.
As described above, according to the first example embodiment, when the human detection unit 111 detects a human, the action determination unit 122 determines an action for inducing the reaction of the user 20 and the drive instruction unit 123 controls the robot 100 to execute the determined action. The estimation unit 124 analyzes the reaction of the human 20 for the executed action, thereby estimating whether or not the user 20 intends to speak to the robot. As a result, when it is determined that there is a possibility that the user 20 will speak to the robot, the transition control unit 130 controls the robot 100 to transition to the speech listening mode for the user 20.
By employing the configuration described above, according to the first example embodiment, the robot control device 101 controls the robot 100 to transition to the speech listening mode in response to a speech made at a timing when the user 20 desires to speak to the robot, without requiring the user to perform a troublesome operation. Therefore, according to the first example embodiment, an advantageous effect that the accuracy with which a robot starts listening to a speech can be improved with high operability is obtained. According to the first example embodiment, the robot control device 101 controls the robot 100 to transition to the speech listening mode only when it is determined, based on the reaction of the user 20, that the user 20 intends to speak to the robot. Therefore, an advantageous effect that a malfunction due to sound from a television or a conversation with a human in the surroundings can be prevented is obtained.
Further, according to the first example embodiment, when the robot control device 101 cannot detect the reaction of the user 20 sufficient to determine whether or not the user 20 intends to speak to the robot, the action is executed on the user 20 again. Thus, an additional reaction is elicited from the user 20 and the determination as to the user's intension is made based on the result, thereby obtaining an advantageous effect that the accuracy with which the robot performs the mode transition can be improved.
Next, a second example embodiment based on the first example embodiment described above will be described. In the following description, components of the second example embodiment that are similar to those of the first example embodiment are denoted by the same reference numbers and repeated descriptions are omitted.
The second example embodiment assumes that a plurality of humans, who are users, are present near the robot 300.
The presence detection unit 113 has a function for detecting that a human is present near the robot. The presence detection unit 113 corresponds to the human detection unit 111 described in the first example embodiment. The count unit 114 has a function for counting the number of humans present near the robot. The count unit 114 also has a function for detecting where each human is present based on information from the cameras 142 and 145. The score information 165 holds a score for each user based on points according to the reaction of the user (details thereof are described later). The other components illustrated in
In this example embodiment, an operation for determining the robot listens to which one of the speeches of the plurality of humans, who are present near the robot 300, and for controlling the robot to listen to the determined human speech is described.
The presence detection unit 113 of the detection unit 110 acquires information from the microphone 141, the cameras 142 and 145, the human detection sensor 143, and the distance sensor 144 from the input device 146. The presence detection unit 113 detects whether or not one or more of the humans 20-1 to 20-n are present near the robot based on the human detection pattern information 161 and the result of analyzing the acquired information (S401). The presence detection unit 113 may determine whether or not a human is present near the robot based on the human detection pattern information 161 illustrated in
The presence detection unit 113 continuously performs the detection until any one of the humans is detected near the robot. When the human is detected (Yes in S402), the presence detection unit 113 notifies the count unit 114 that the human is detected. The count unit 114 analyzes images acquired from the cameras 142 and 145, thereby detecting the number and locations of the humans present near the robot (S403). The count unit 114 extracts, for example, the faces of the humans from the images acquired from the cameras 142 and 145, and counts the number of the faces to thereby be able to count the number of the humans. Note that when the count unit 114 does not extract any human face from the images acquired from the cameras 142 and 145 even though the presence detection unit 113 has detected a human near the robot, for example, a sound estimated to be a voice of a human present behind the robot 300 or the like may have been picked up by a microphone. In this case, the count unit 114 may drive the head drive circuit 153 for the drive instruction unit 123 of the transition determination unit 120 and may send an instruction to move the head to a location where the image of the human can be acquired by the cameras 142 and 145. After that, the cameras 142 and 145 may acquire images. This example embodiment assumes that the n humans are detected.
The human detection unit 111 notifies the transition determination unit 120 of the number and locations of the detected humans. When the transition determination unit 120 receives the notification, the control unit 121 instructs the action determination unit 122 to determine which action to be executed. In response to the instruction, the action determination unit 122 determines a type of the action of the robot 300 to approach the user based on the action information 163 so as to determine whether or not any one of the users present near the robot intends to speak to the robot, based on the reaction of each user (S404).
The reaction detection unit 112 acquires information from the microphone 141, the cameras 142 and 145, the human detection sensor 143, and the distance sensor 144 of the input device 146. The reaction detection unit 112 carries out detection of reactions of the users 20-1 to 20-n for the action of the robot 300 based on the reaction pattern information 162 and a result of analyzing the acquired information (S405).
The reaction detection unit 112 detects a reaction of each of a plurality of humans present near the robot by analyzing camera images. Further, the reaction detection unit 112 analyzes the images acquired from the two cameras 142 and 145, thereby making it possible to determine a substantial distance between the robot 300 and each of the plurality of users.
The reaction detection unit 112 notifies the transition determination unit 120 of the result of detecting the reaction. The transition determination unit 120 receives the notification in the control unit 121. When the reaction of any one of the humans is detected (Yes in S406), the control unit 121 instructs the estimation unit 124 to estimate whether the user whose reaction has been detected intends to speak to the robot. On the other hand, when no human reaction is detected (No in S406), the control unit 121 returns the processing to S401 in the human detection unit 111. When the human detection unit 111 detects a human again, the control unit 121 instructs the action determination unit 122 again to determine which action to be executed. As a result, the action determination unit 122 attempts to elicit a reaction from the user.
The estimation unit 124 determines whether or not there is a user who intends to speak to the robot 300 based on the detected reaction of each user and the determination criteria information 164. When a plurality of users intend to speak to the robot, the estimation unit 124 determines which of the users is most likely to speak to the robot (S407). The estimation unit 124 in the second example embodiment converts one or more reactions of the users into a score so as to determine which user is most likely to speak to the robot 300.
In the example of
When the reaction of the user 20-2 is that the user “approached within 1.5 m and moved his/her mouth”, the score is calculated as 13 points in total, including five points obtained as a score for “approached within 1.5 m”, and eight points obtained as a score for “moved his/her mouth”.
When the reaction of the user 20-n is that the user “approached within 2 m and stopped”, the score is calculated as six points in total, including three points obtained as a score for “approached within 2 m”, and three points obtained as a score for “stopped”. The score for the user whose reaction has not been detected may be set to 0 points.
The estimation unit 124 may determine that, for example, the user with a score of 10 points or more intends to speak to the robot 300 and the user with a score of less than three points does not intend to speak to the robot 300. In this case, for example, in the example illustrated in
Upon determining that there is a possibility that at least one human will speak to the robot 300 (Yes in S408), the estimation unit 124 instructs the transition control unit 130 to transition to the listening mode in which the robot can listen to the speech of the user 20. The transition control unit 130 controls the robot 300 to transition to the listening mode in response to the above-mentioned instruction. When the estimation unit 124 determines that a plurality of users intend to speak to the robot, the transition control unit 130 may control the robot 300 to listen to the speech of the human with the highest score (S409).
In the example of
The transition control unit 130 may instruct the drive instruction unit 123 to drive the head drive circuit 153 and the leg drive circuit 155, to thereby control the robot to, for example, turn its face toward the human with the highest score during listening, or approach the human with the highest score.
On the other hand, when the estimation unit 124 determines that there is no possibility that any user will speak to the robot 300 (No in S408), the processing is terminated without sending an instruction for transition to the listening mode to the transition control unit 130. Further, when the estimation unit 124 determines that, as a result of the estimation for the “n” users, no user is determined to be likely to speak to the robot, but it cannot be completely determined that there is no possibility that any user will speak to the robot, i.e., when cannot be determined, the processing returns to S401 for the human detection unit 111. In this case, when the human detection unit 111 detects a human again, the action determination unit 122 determines which action to be executed on the user again, and the drive instruction unit 123 controls the robot 300 to execute the determined action. Thus, a further reaction of each user is elicited, thereby making it possible to improve the estimation accuracy.
As described above, according to the second example embodiment, the robot 300 detects one or more humans, and like in the first example embodiment described above, an action for inducing a reaction of a human is determined, and a reaction for the action is analyzed to thereby determine whether or not there is a possibility that the user will speak to the robot. Further, when it is determined that there is a possibility that one or more users will speak to the robot, the robot 300 transitions to the user speech listening mode.
By employing the configuration described above, according to the second example embodiment, even when a plurality of users are present around the robot 300, the robot control device 102 controls the robot 300 to transition to the listening mode in response to a speech made at a timing when the user desires to speak to the robot, without requiring the user to perform a troublesome operation. Therefore, according to the second example embodiment, in addition to the advantageous effect of the first example embodiment, an advantageous effect that the accuracy with which the robot starts listening to a speech can be improved with high operability even when a plurality of users are present around the robot 300 can be obtained.
Further, according to the second example embodiment, the reaction of each user for the action of the robot 300 is converted into a score, thereby selecting a user who is most likely to speak to the robot 300 when there is a possibility for a plurality of users to speak to the robot 300. Thus, when there is a possibility that a plurality of users will simultaneously speak to the robot, an advantageous effect that an appropriate user can be selected and the robot can transition to the user speech listening mode can be obtained.
The second example embodiment illustrates an example in which the robot 300 includes the two cameras 142 and 145 and analyzes images acquired from the cameras 142 and 145, thereby detecting a distance between the robot and each of a plurality of humans. However, the present invention is not limited to this. Specifically, the robot 300 may detect a distance between the robot and each of a plurality of humans by using only the distance sensor 144 or other means. In this case, the robot 300 need not be provided with two cameras.
When a human is detected, the action execution unit 410 determines an action to be executed on the human and controls the robot to execute the action.
Upon detecting a reaction of a human for the action determined by the action execution unit 410, the determination unit 420 determines a possibility that the human will speak to the robot based on the reaction.
The operation control unit 430 controls the operation mode of the robot based on the result of the determination by the determination unit 420.
Note that the action execution unit 410 includes the action determination unit 122 and the drive instruction unit 123 of the first example embodiment described above. The determination unit 420 includes the estimation unit 124 of the first example embodiment. The operation control unit 430 includes the transition control unit 130 of the first example embodiment.
By employing the configuration described above, according to the third example embodiment, the robot is caused to transition to the listening mode only when it is determined that there is a possibility that the human will speak to the robot. Accordingly, an advantageous effect that the accuracy with which the robot starts listening to a speech can be improved without requiring the user to perform an operation can be obtained.
Note that each example embodiment described above illustrates a robot including the trunk 210, the head 220, the arms 230, and the legs 240, each of which is movably coupled to the trunk 210. However, the present invention is not limited to this. For example, a robot in which the trunk 210 and the head 220 are integrated, or a robot in which at least one of the head 220, the arms 230, and the legs 240 is omitted may be employed. Further, the robot is not limited to a device including a trunk, a head, arms, legs, and the like as described above. Examples of the device may include an integrated device such as a so-called cleaning robot, a computer for performing output to a user, a game machine, a mobile terminal, a smartphone, and the like.
The example embodiments described above illustrate a case where the functions of the blocks described with reference to the flowcharts illustrated in
Computer programs that are supplied to the robot control devices 101 and 102 and are capable of implementing the functions described above may be stored in a computer-readable storage device such as a readable memory (temporary recording medium) or a hard disk device. In this case, as a method for supplying the computer programs into hardware, currently general procedures can be employed. Examples of the procedures include a method for installing programs into a robot through various recording media such as a CD-ROM, a method for downloading programs from the outside via a communication line such as the Internet, and the like. In such a case, the present invention can be configured by a recording medium storing codes representing the computer programs or the computer programs.
While the present invention has been described above with reference to the example embodiments, the present invention is not limited to the above example embodiments. The configuration and details of the present invention can be modified in various ways that can be understood by those skilled in the art within the scope of the present invention.
This application is based upon and claims the benefit of priority from Japanese Patent Application No. 2015-028742 filed on Feb. 17, 2015, the entire disclosure of which is incorporated herein.
The present invention is applicable to a robot that has a dialogue with a human, a robot that listens to a human speech, a robot that receives a voice operation instruction, and the like.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2015-028742 | Feb 2015 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2016/000775 | 2/15/2016 | WO | 00 |
