Robot apparatus and emotion representing method therefor
A robot apparatus in which the storage capacity necessary for holding motion data is diminished in representing the emotion by motions exploiting the body resources. In demonstrating component behaviors of the robot apparatus, the basic posture, as the posture at the start time of one or plural movements forming a component behavior, is changed to express the emotion. Specifically, the robot apparatus includes variations for expressing the emotion for the basic posture (basic posture for the emotion). The respective resources are actuated from the basic posture for the emotion and reversion is made again to the basic posture to demonstrate the emotion.
1. An autonomous robot apparatus having an emotion model, or a modeled emotion, and capable of expressing the own emotion, comprising:
emotion management means for detecting and supervising the emotion of the robot apparatus;
a plurality of behavior describing modules, each describing a preset behavior; and
behavior selection means for selecting one or more of said behavior describing modules for demonstrating the behavior described in the behavior describing module selected;
wherein when one of the behavior describing modules is selected by said behavior selection means, said selected behavior describing module causes a change in a basic posture as a posture at each beginning time point of one or plural motions forming the behavior described in the selected behavior describing module, responsive to the current emotion detected by said emotion management means, and
wherein the selected behavior describing module ends the motion with a same posture as the posture at the beginning time point of the motion.
2. The robot apparatus according to claim 1
wherein said behavior describing module includes a basic posture corresponding to each emotion and, on selection by said behavior selection means, selects the basic posture corresponding to the current emotion as detected by said emotion management means.
3. The robot apparatus according to claim 1
wherein said behavior describing module varies the basic posture corresponding to said emotion depending on the size of the current emotion.
4. The robot apparatus according to claim 3
wherein the basic posture for the minimum size of the emotion and the basic posture for the maximum size thereof are stated in said behavior describing module, and
wherein said behavior describing module generates the basic posture to be output by interpolating the basic posture for the minimum size of the emotion and the basic posture for the maximum size thereof, depending on the size of the current emotion as detected by said emotion management means, to generate the basic posture to be output.
5. The robot apparatus according to claim 1
wherein said emotion at least includes joy, sadness, anger, surprise, disgust, fear and neutral.
6. An emotion representing method for an autonomous robot apparatus having an emotion model, or a modeled emotion, and capable of expressing the own emotion, comprising:
an emotion management step of detecting and supervising the emotion of the robot apparatus;
a behavior selection step of selecting one or a plurality of said behavior describing modules, each describing a preset behavior, for demonstrating the behavior described in the selected behavior describing module;
wherein when one of the behavior describing modules is selected by said behavior selection step, said selected behavior describing module causes a change in a basic posture as a posture at each beginning time point of one or plural motions forming the behavior described in the selected behavior describing module, responsive to the current emotion detected by said emotion management step, and
wherein the selected behavior describing module ends the motion with a same posture as the posture at the beginning time point of the motion.
7. The emotion representing method for an autonomous robot apparatus according to claim 6
wherein said behavior describing module includes a basic posture corresponding to each emotion and, on selection by said behavior selection step, selects the basic posture corresponding to the current emotion as detected by said emotion management step.
8. The emotion representing method for an autonomous robot apparatus according to claim 6
wherein said behavior describing module varies the basic posture corresponding to said emotion depending on the size of the current emotion.
9. The emotion representing method for an autonomous robot apparatus according to claim 8
wherein the basic posture for the minimum size of the emotion and the basic posture for the maximum size thereof are stated in said behavior describing module, and
wherein said behavior describing module generates the basic posture to be output by interpolating the basic posture for the minimum size of the emotion and the basic posture for the maximum size thereof, depending on the size of the current emotion as detected by said emotion management step, to generate the basic posture to be output.
10. The emotion representing method for an autonomous robot apparatus according to claim 6
wherein said emotion at least includes joy, sadness, anger, surprise, disgust, fear and neutral.