Information processing device, robot, and mobile terminal device
Provided is an information processing device that controls a motion of a robot having a torso and a head. The information processing device includes an acquisition section that acquires an image of a face of a user that is captured by a camera of a mobile terminal device, a motion detection section that detects an orientation of the face of the user from the acquired image, a control signal generation section that generates a control signal for rotating the first or the second rotating device of the robot according to the detected orientation of the face of the user, and a transmission section that transmits the generated control signal to the robot.
1 . An information processing device comprising:
one or more storage devices storing instructions;
one or more processors, that upon execution of the instructions, configured to:
control a motion of a robot having a torso and a head, the robot comprising:
a first rotating device configured to rotate the head with respect to the torso; and
a second rotating configured to rotate the torso with respect to a contact surface of the robot;
obtain an image of a face from of a mobile terminal device;
detect an orientation of the face from the image;
according to the detected orientation of the face, generate a first control signal causing the first rotating device to rotate the head with respect to the torso, and generate a second control signal causing the second rotating device to rotate the torso; and
a transmitter configured to transmit the generated control signals to the robot.
2 . The information processing device according to claim 1 , further comprising a receiver configured to receive
inertial sensor data from the mobile terminal device, and
wherein the one or more processors are configured to generate at least one of the first control signal or the second control signal according to the inertial sensor data.
3 . The information processing device of claim 2 , wherein the one or more processors are configured to detect the orientation of the face further based on the inertial sensor data.
4 . The information processing device of claim 3 , wherein the one or more processors are configured to detect the orientation of the face based on a current orientation of the mobile terminal device with respect to a reference orientation of the mobile terminal device based on the inertial sensor data.
5 . The information processing device according to claim 1 , wherein the one or more processors are configured to provide the first control signal and then further configured to provide the second control signal,
wherein the first control signal causes the first rotating device to rotate the head in a predetermined rotation direction, and
wherein the second control signal causes the second rotating device to rotate the torso in the predetermined rotation direction.
6 . The information processing device according to claim 5 , wherein the first control signal causes the first rotating device to rotate the head by a maximum rotation angle.
7 . The information processing device of claim 5 , wherein
upon detecting that the face in the image is rotated in the predetermined rotation direction by an actual rotation angle that is greater than the maximum rotation angle, the one or more processors are configured to generate the first control signal causing the first rotating device to rotate the head by the maximum rotation angle in the predetermined rotation direction, and then further configured to generate the second control signal for causing the second rotating device to rotate the torso in the predetermined rotation direction by an angle equal to a difference between the actual rotation angle and the maximum rotation angle.
8 . The information processing device of claim 1 , wherein each of a housing of the head and a housing of the torso is cuboid.
9 . A robot comprising:
a torso;
a head;
a first rotating device configured to rotate the head with respect to the torso in a predetermined rotation direction;
a second rotation device configured to rotate the torso with respect to a contact surface of the robot; and
a controller configured to cause the first rotating device to rotate the head with respect to the torso, and then cause the second rotating device to rotate the torso with respect to the contact surface of the robot.
10 . The robot according to claim 9 , wherein the controller causes the first rotating device to rotate the head by a maximum rotation angle, and then causes the second rotating device to rotate the torso.
11 . The robot according to claim 9 , wherein the predetermined rotation direction is a yaw direction.
12 . The robot according to claim 9 , wherein the head includes a display configured to display an image of a face or an image related to the face.
13 . The robot of claim 12 , wherein the head further comprises:
a camera configured to capture an image of a space facing the display;
a microphone configured to collect sounds around the robot;
a receiver configured to receive one or more user images comprising at least one of the image of the face from a mobile terminal device or the image related to the face; and
a transmitter configured to transmit the image of the space and the sounds to the mobile terminal device concurrently with receiving the one or more user images,
wherein the controller is configured to cause the first rotating device to rotate the head or cause the second rotating device to rotate the torso based on the received one or more user images.
14 . The robot of claim 12 , wherein the maximum rotation angle is based on an angular limit of a human head rotation with respect to a human torso.
15 . The robot of claim 9 , wherein each of a housing of the head and a housing of the torso is a cuboid.
16 . The robot of claim 9 , wherein the first rotating device is configured to rotate by the maximum rotation angle in the predetermined rotation direction, and wherein the second rotating device is configured to rotate the torso in the predetermined rotation direction by an angle equal to a difference between the actual rotation angle and the maximum rotation angle, after the head is rotated with respect to the torso by the maximum rotation angle in the predetermined rotation direction.
17 . A system comprising:
a robot comprising:
a torso;
a head disposed above the torso;
a first rotating device configured to rotate the head with respect to the torso;
a second rotation device configured to rotate the torso with respect to a contact surface of the robot; and
a controller configured to cause the first rotating device to rotate the head with respect to the torso, and further configured to cause the second rotating device to rotate the torso with respect to the contact surface of the robot;
one or more storage devices storing instructions; and
one or more processors, that upon execution of the instructions, configured to:
obtain an image of a face;
detect an orientation of the face based on the image;
according to the detected orientation of the face, generate a first control signal causing the first rotating device to rotate the head with respect to the torso, and generate a second control signal causing the second rotating device to rotate the torso; and
provide the generated first and second control signals to the controller,
wherein the controller is configured to cause the first rotating device to rotate the head with respect to the torso responsive to the first control signal, and further configured to cause the second rotating device to rotate the torso with respect to the contact surface of the robot responsive to the second control signal.
18 . The system of claim 17 , wherein the first rotation device is configured to rotate the head with respect to the torso in a predetermined direction within a maximum rotation angle, and
wherein, upon detecting that the face in the image is rotated in the predetermined rotation direction by an actual rotation angle that is greater than the maximum rotation angle, the one or more processors are configured to generate the first control signal causing the first rotating device to rotate the head by the maximum rotation angle in the predetermined rotation direction, and then further configured to generate the second control signal for causing the second rotating device to rotate the torso in the predetermined rotation direction following the first control signal.
19 . The system of claim 18 , wherein the second control signal causes the second rotating device to rotate the torso by an angle that is a difference between the actual rotation angle and the maximum rotation angle.
20 . The system of claim 18 , wherein the robot is an avatar related to the face,
wherein the maximum rotation angle is based on an angular limit of a human head rotation with respect to a human torso.