Abstract:
A method and apparatus for providing a motion object with psychological and emotional expressions characterized by simplified processing and reduced control data associated with controlling a series of motions for body groups of the motion object including a fundamental control signal made up of an oscillating numerical value signal representing a psychological state, and a signal representing a body-group motion sequence.

Description:
BACKGROUND OF THE INVENTION  
         [0001]    1. Field of the Invention  
           [0002]    The present invention relates to a method of producing operation signals used to operate an object such as a robot or a character appearing in video games, which has a body analogous to the body of a human being or an animal and performs body actions for viewing by people, (hereinafter referred to as a “motion object”), so that the object automatically behaves with natural and living creature-like actions in a manner giving emotional expressions as well. Also, the present invention relates to an apparatus for producing operation signals for the motion object, and a program product for producing the operation signals.  
           [0003]    2. Description of the Related Art  
           [0004]    A series of body actions of a motion object (robot) are controlled by outputting operation signal commands to actuators of the motion object. Hitherto, body operation signals for conventional robots and video game characters have been mostly produced using any of the following methods.  
           [0005]    (1) Method of Copying Motions of a Real Human Being or Animal  
           [0006]    This method is represented by a motion capture system. Specifically, a motion object is operated so as to follow captured motions of a real human being or animal, thereby giving natural feeling and emotional expressions to the motions of the object.  
           [0007]    (2) Method of Manually Creating Action Data  
           [0008]    In many cases, action data of a motion object is created beforehand by game designers and other persons.  
           [0009]    (3) Method of Not Intending Impression Production and Artistic Effects of Motions with Direct Purpose  
           [0010]    As an alternative method, motions are designed to achieve another purpose instead of an explicit purpose for causing a motion object to behave like a living body with emotional expressions. There is also a method of creating motions in an automatic manner. For example, motions of forelegs and hind legs of a four-footed robot are automatically enlarged to increase amounts of advance. Those artificial motions for practical purpose are eventually very similar to motions of actual animals in some cases when visually perceived.  
           [0011]    With the above conventional method ( 1 ), however, since the motion capture is based on identical copying, a difficulty arises in correction and interruption of motions. In particular, it is difficult to make interactive correction (which is required, for example, in environment including complicated configurations of the ground surface or the presence of an obstacle to correct motions so that the object is avoided from striking against the ground or the obstacle).  
           [0012]    Also, in general, size of data recording real-life motions are large. Because those data must be collected and stored beforehand, a repertory of motions capable of being held by a system is also restricted. Further, for operating a motion object in imitation of an imaginary animal, collected data must be modified for adaptation to individual cases if the structure and size of the motion object differ from those of the imaginary animal.  
           [0013]    In the above conventional method ( 2 ), since action data created by designers is also large in size, there occurs a problem similar to that with the above conventional method ( 1 ). The above conventional method ( 2 ) also has a disadvantage in that since the action data is subjectively created by the designer, properness of expressed actions is not theoretically ensured, and a burden for producing actions is imposed on the designer.  
           [0014]    In the above conventional method ( 3 ), a manner of controlling psychological and emotional impressions expressed by actions is not yet realized.  
           [0015]    In the field of psychology and dance study, there is known the Laban-Bartenieff-Kestenberg theory for correlating the degree and evolution and growth of the psychological states with features of body actions. The theories of Laban Movement Analysis, Bartenieff Fundamental Theory and Kestenberg Movement Analysis (see references: The Mastery of Movement, Rudolf Laban, Macdonald &amp; Evans, 1960, Body Movement Coping with the Environment, Irmgard Bartenieff et al., Gordon and Breach Publishers, 1980, The Meaning of Movement, Janet Kestenberg Amighi et al., Gordon and Breach Publishers, 1999, and Making connections—Total Body Integration through Bartenieff Fundamentals Peggy Hackney, Gordon and Breach Publishers 1998) have been primarily used to estimate human psychological state from human movements. By utilizing that theory not for emotion estimation but for emotion expression, the inventors have previously proposed a basic idea for automatically producing movements of a motion body, which allow people to feel emotional and psychological expressions from body actions of the motion body (Japanese Patent Application Publication No. 2001-34305 entitled “Controller of Operation Body”).  
         SUMMARY OF THE INVENTION  
         [0016]    With the view of improving such a basic idea, it is an object of the present invention to provide a method and apparatus for performing body actions of a motion object, in which fundamental control signals are generated for controlling a series of motions of body groups defined corresponding to plural body components of the motion object, the plural body components being connected through joints with multi-degrees of freedom, and the generated fundamental control signals are distributed for supplying operation signals to the respective body components, thereby causing the motion object to perform body actions as desired.  
           [0017]    Also, the present invention provides a method and apparatus for producing operation signals for a motion object, in which a first fundamental control signal representing tonus rhythm is an oscillating numerical value signal, and a second fundamental control signal representing predetermined motions of the body components of the motion object is a signal of a body-group motion sequence, the first fundamental control signal and the second fundamental control signal being combined with each other and distributed at a distribution ratio in accordance with the body-group motion sequence, whereby the operation signals are outputted to the respective body components while reflecting the body-group motion sequence signal and expressing a virtual psychological state as well. The second fundamental control signal can be set depending on a degree of imaginary evolution or growth of the motion object in a role of a living thing.  
           [0018]    Further, the present invention provides a method and apparatus for producing operation signals for a motion object, in which, for controlling actions of a motion object presented as a two- or three-dimensional image when an image of the motion object is displayed, at least one image of the motion object is prepared, and at least one operation command signal common to the whole of said motion object or a signal resulting from modifying the at least one common operation command signal are employed as a control signal for changing figure feature parameters of an image representing the body components of the motion object. In these method and apparatus, it is not necessarily required to use a mechanism model of said motion object.  
           [0019]    Moreover, the present invention provides a program product containing a program that is read by a computer and causes the computer to produce operation signals for a motion object as set forth above.  
           [0020]    According to the present invention, the amount of processing of control/operation data and the amount of stored data can be reduced by controlling predetermined patterns of body actions of the motion object as a body action sequence. Also, movements of the motion object can be performed along with psychological and emotional expressions by producing the fundamental control signal as a body action sequence reflecting the psychological and emotional expressions of the motion object.  
       
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS  
       [0021]    [0021]FIG. 1 is a block diagram for explaining a basic concept of an embodiment of the present invention;  
         [0022]    [0022]FIG. 2 is a table showing examples of a fundamental control signal corresponding to body-action emotional states;  
         [0023]    [0023]FIG. 3 is a table showing body-group motion sequence fundamental control signals corresponding to evolution and growth stages;  
         [0024]    [0024]FIG. 4 shows a body structure of a motion object in a basic posture;  
         [0025]    [0025]FIG. 5 is a table showing examples of a body-group fundamental control signal corresponding to body-group motion sequences;  
         [0026]    [0026]FIG. 6 is a table showing relationship correlation between a distribution matrix of operation signals applied to body components and control of each body component of the motion object;  
         [0027]    [0027]FIG. 7 is a block diagram showing a motion object controller for producing operation signals for a motion object image;  
         [0028]    [0028]FIG. 8 is a conceptual view for explaining the principle of changing a contour shape of a motion object image that is formed by inputting an image contour by handwriting; and  
         [0029]    [0029]FIGS. 9A, 9B and  9 C are schematic views showing postures of the motion object image of FIG. 8 in different actions. 
     
    
     DESCRIPTION OF THE PREFERRED EMBODIMENTS  
       [0030]    Preferred embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram for explaining a basic concept of an embodiment of the present invention. The embodiment shown in FIG. 1 is constituted by a system comprising a body action setting unit  1 , an emotion fundamental control signal generating unit  2 , a body-group motion sequence fundamental control signal generating unit  3 , a body group signal distributing unit  4 , an operation signal combining unit  5 , a body component signal distributing unit  6 , and a motion object  7 .  
         [0031]    In this embodiment, the motion object  7  is operated by producing operation signals to execute actions of body components in accompanying with tonus rhythm motions of a body. A body action sequence of the motion object in accompanying with tonus rhythm is set by the body action setting unit  1 . More specifically, a body-action emotional state setting unit  1 A and a body action sequence setting unit  1 B in the body action setting unit  1  set a predetermined tonus rhythm motion (prototype of motion) of the body and a series of body group motions, respectively, in accordance with a program.  
         [0032]    Respective fundamental control signals representing tonus rhythm motions and body-group motion sequences are stored, as fundamental control signal databases, in respective memories  2 M,  3 M in the emotion fundamental control signal generating unit  2  and the body-group motion sequence fundamental control signal generating unit  3 . The emotion fundamental control signal generating unit  2  reads, out of the memory  2 M, an emotion fundamental control signal r(t) corresponding to a set action&#39;s emotional state and supplies it to the body group signal distributing unit  4 . The body group signal distributing unit  4  creates a signal distribution vector {right arrow over (R)}(s) from the emotion fundamental control signal r(t). Herein, s is a variable for Laplace transformation and a function containing s represents a Laplace-transformed function.  
         [0033]    The body-group motion sequence fundamental control signal generating unit  3  reads, out of the memory  3 M, a body-group motion sequence matrix B(s) corresponding to a set action of the body components and supplies it to the operation signal combining unit  5 . The operation signal combining unit  5  produces an operation signal vector B(s){right arrow over (R)}(s) and supplies it to the body component signal distributing unit  6 . The body component signal distributing unit  6  produces, based on a signal distribution transfer function matrix D(s), an operation signal vector P(s) commanded to the respective body components, and then supplies the operation signal vector P(s) to the corresponding body components of the motion object  7 .  
         [0034]    [0034]FIG. 2 is a table showing examples (r1 to r10 in FIG. 2) of the fundamental control signal corresponding to body-action emotional states (basic motions, 1 to 10 in FIG. 2), which are set in consideration of the Kestenberg theory for body movement analysis. According to the Kestenberg theory, the tonus rhythm of a muscle depends on the emotional state and the degree of growth. More specifically, the tonus rhythm is divided into 10 stages and the rhythm motion in each divided stage is described along with the meaning thereof. Data of the correspondence table of FIG. 2 and the fundamental control signals is stored in the memory  2 M in the emotion fundamental control signal generating unit  2 .  
         [0035]    [0035]FIG. 3 is a table showing examples of the body action sequence, which are obtained by classifying body-group motion sequences in consideration of patterns of the body action sequence based on body action expressions in different stages of evolution and growth according to the Bartenieff theory. According to the Bartenieff theory, patterns of body actions of an animal are fairly depending on the degree of evolution and growth of the animal and the psychological state thereof.  
         [0036]    In FIG. 3, a “Breath” action means an action in which the tonus of each muscle and bending/stretching of each joint are performed under synchronization with each other, and directions of joint movements may be at random. A “Core-Support” action means an action in which the tonus of each muscle and bending/stretching of each joint are performed all at once, and directions of joint movements are point-symmetry about the center of the body. A “Spinal” action means an action in which commands for the tonus of each muscle and bending/stretching of each joint are propagated along the spinal cord. An “Upper-Lower” action means an action in which control of the tonus of each muscle and bending/stretching of each joint are performed separately in an upper half body and a lower half body, and commands for the tonus and the bending/stretching are uniformly executed all at once for each half body. A “Homo-Lateral” action means an action in which control of the tonus of each muscle and bending/stretching of each joint are performed separately in a left half body and a right half body, and commands for the tonus and the bending/stretching are uniformly executed all at once for each half body. A “Contra-Lateral” action means an action in which control of the tonus of each muscle and bending/stretching of each joint are performed separately in two sets of body halves, i.e., one set comprising an upper right half body and a lower left half body and the other set comprising an upper left half body and a lower right half body, and commands for the tonus and the bending/stretching are uniformly executed all at once for each set of body halves.  
         [0037]    The memory  3 M in the body-group motion sequence fundamental control signal generating unit  3  stores not only a correspondence table showing the relationship between the body action sequences, any of which is set in the body action sequence setting unit P 2  depending on the evolution/growth stage (1 to 6 in FIG. 3), and fundamental control signals (B1 to B6), but also data B(s) of the fundamental control signals. While the setting of FIG. 3 shows the body action sequences set in consideration of the Bartenieff theory, body actions expressing the psychological states, etc. may be classified into patterns set in a different way and may be represented by corresponding body-group motion sequences.  
         [0038]    [0038]FIG. 4 schematically shows an example of a motion object having an explicit mechanism model. In this example, the motion object is made up of body components connected by joints. The motion object is practically realized in the form of a robot or a computer graphic image. The motion object shown in FIG. 4 is in its basic posture, and set body actions of the motion object are performed by actuating respective flexor muscles and joints J 1  to J 12  associated with the body components. FIG. 5 is a table showing correspondence between the body-group motion sequence signals B 1  to B 6  shown in FIG. 3 and body groups G 1  to G 6  for executing those sequences. It is to be noted that the term “body-group motion sequence” used herein means a series of motions combined as one unit for performing a predetermined action of the motion object.  
         [0039]    The table of FIG. 5 is stored in the memory  3 M in the body-group motion sequence fundamental control signal generating unit  3 , and the body-group motion sequence fundamental control signal generating unit  3  outputs data in the signal form of a diagonal matrix. For example, when the action of the motion object is set to the “Breath” action, the fundamental control signals with a weight of 1 or −1 are generated for all the body groups G 1  to G 6 . When it is set to the “Spinal” action, the fundamental control signals are generated for a left shoulder flexor group G 2  and a right shoulder flexor group G 3  at a time delay of At relative to a head flexor group G 1 , and are generated for a left leg flexor group G 4 , a right leg flexor group G 5  and a tail flexor group G 6  at a further time delay of Δt relative to the flexor groups G 2  and G 3 .  
         [0040]    [0040]FIG. 6 is a table showing an example of correspondence between a matrix for distribution D(s) of operation signals applied to the body components and control of each body component of the motion object. (The signal distribution matrix D(s) is given by expressing the table of FIG. 6, as it is, in the form of a matrix). In the example of FIG. 6, two kinds of control modes are set for each of the body components, and the control modes are implemented by controlling respective flexors and joint angles associated with the body components. For example, a signal inputted to the head flexor G 1  is distributed with weights of 1, 0.5, 0.5, 0.5, 0.5 and 1 for the control modes of head nodding, left upper arm internal rotation, left forearm internal rotation, right upper arm internal rotation, right forearm internal rotation, and waist bending, respectively, thereby controlling the flexors and the joints of the head, the left upper arm, the left forearm, the right upper arm, the right forearm, and the waist. The signals supplied to the plurality of body groups are distributed to the body components and then outputted as operation signals for the motion object after being added to respective flexor and joint control signals.  
         [0041]    A detailed description is now made of an example in which the motion object is operated by expressing the emotional state of “feel pleasure” with the tonus rhythm of the entire body and by expressing the body action with the body action sequence of the “Spinal” action. For realizing the tonus rhythm expressing the emotional state of “feel pleasure”, r(t) given by the following equation (1) is read out of data stored in the memory  2 M, which corresponds to 7 in FIG. 2, and is distributed to the body groups G 1  to G 6  in the body group signal distributing unit  4 , thereby creating R(s) given by the following equation (2):  
               r        (   t   )       =     0.5                   sin        (     0.5      t     )                 (   1   )                   R   -&gt;          (   s   )       =         L        [     r        (   t   )       ]            (         1           1           1           1           1           1         )       =       0.25       s   2     +   0.25            (         1           1           1           1           1           1         )                 (   2   )                               
 
         [0042]    where L[ ] means Laplace transformation.  
         [0043]    The body action sequence corresponding to the set “Spinal” action is read by the body-group motion sequence fundamental control signal generating unit  3  out of the memory  3 M as the matrix representing the sequence B(s) given by the following equation (3) in the matrix form. Then, the operation signal combining unit  5  calculates B(s)R(s) and outputs it to the body component signal distributing unit  6 .  
               B        (   s   )       =     (         1       0       0       0       0       0           0         exp        (     -   s     )           0       0       0       0           0       0         exp        (     -   s     )           0       0       0           0       0       0         exp        (       -   2        s     )           0       0           0       0       0       0         exp        (       -   2        s     )           0           0       0       0       0       0         exp        (       -   2        s     )             )             (   3   )                               
 
         [0044]    Based on the stored matrix for signal distribution D(s) shown in FIG. 6, the body component signal distributing unit  6  outputs, as control mode signals for the body components, the operation signals given by {right arrow over (P)}(s) =B(s) {right arrow over (R)}(s) to the body components. The body components receive the control mode signals and control the flexors and the joint angles in response to the received control mode signals, thereby operating the motion object from the basic posture shown in FIG. 4. Thus, in accordance with the set body action program, the motion object can perform various body actions while expressing virtual psychological states.  
         [0045]    While, in the embodiment shown in FIGS.  1  to  6 , the operation is controlled based on both expression of the whole body with the tonus rhythm and motion sequences on the body components, it may be controlled based on one of the selection of tonus rhythm and the selection of motion sequences. Further, it is apparent that the body expression can be also applied with tonus rhythms that are captured from real human motions, instead of the tonus rhythm stereotypes that are provided by Kestenberg theory.  
         [0046]    [0046]FIG. 7 shows another embodiment of the present invention in which the motion object is a two- or three-dimensional image. The embodiment shown in FIG. 7 is constituted by a system comprising a motion object controller  10 , a CPU  11 , an action information processing unit  12 , an image information processing unit  13 , a storage  14 , a control program area  15 , a body action setting database area  16 , an action pattern database area  17 , a processing result history memory  18 , an input unit  19 , a motion object image display  23 , and a motion object image  24  (performing the “Spinal” action in FIG. 7). The system also comprises a mouse  20 , a keyboard  21 , and a floppy reader  22 .  
         [0047]    The motion object controller  10  is made up of the CPU  11  for executing a control program, and the storage  14  for storing data. The storage  14  includes the control program area  15  for storing the control program for operating the motion object controller  10  in FIG. 7, the body action setting database area  16  for storing the emotional state attribute setting value (P 1 , e.g., 1 to 10 in FIG. 2) and the growth degree attribute setting value (P 2 , e.g., 1 to 6 in FIG. 3) of the motion object, the action pattern database area  17  for storing action patterns, and the processing result history memory  18  for storing results of processing of operation data. The data stored in the body action setting database area  16  corresponds to the data stored in both the body-action emotional state setting unit  1 A and the body action sequence setting unit  1 B shown in FIG. 1, and the data stored in the action pattern database area  17  corresponds to the data B(s) of the fundamental control signals stored in both the memories  2 M,  3 M shown in FIG. 1.  
         [0048]    The CPU  11  is made up of the action information processing unit  12  for processing action data and the image information processing unit  13  for processing information to form an image. The image information processing unit  13  creates a video signal from operation control signals for the motion object outputted from the action information processing unit  12 . The motion object image display  23  is constituted by a device for displaying a motion image of the motion object.  
         [0049]    An operator enters the emotional state attribute setting value (P 1 ) and the growth degree attribute setting value (P 2 ) of the motion object into the motion object controller  10  through the input unit  19 .  
         [0050]    The action information processing unit  12  of the CPU  11  loads the motion object attributes sent from the input unit  19  into the body action setting database area  16  and selects the action patterns (i.e., the tonus rhythm and the body action sequence) in match with the attributes by referring to the action pattern database.  
         [0051]    Further, the action information processing unit  12  computes motion object posture data in accordance with the selected action pattern while referring to the results of past computations stored in the processing result history memory  18 . Then, the action information processing unit  12  outputs a computed result, as an operation signal P(t) for the motion object, to a motion object action controller and, at the same time, stores the computed result in the processing result history memory  18 .  
         [0052]    When the motion object is an image displayed on the display  23 , the motion object posture data of the motion object image per frame is computed and outputted, as an operation signal for the motion object, to the motion object action controller, and simultaneously a computed result per image frame is stored in the processing result history memory  18 . Each time the motion object posture data per frame is computed, the action information processing unit  12  transfers the computed motion object posture data to the image information processing unit  13 .  
         [0053]    The image information processing unit  13  of the CPU  11  computes a color tone of each pixel of the image for expressing the posture of the motion object in accordance with the motion object posture data transferred from the motion information processing unit  12 , and then transfers a computed result to the motion object image display  23 .  
         [0054]    The motion object image display  23  displays the image in accordance with image data transferred from the image information processing unit  13  of the CPU  11 . As a result, the motion object image is displayed on the motion object image display  23  in accordance with the control program depending on the entered data while performing body actions in accompanying with the tonus rhythm.  
         [0055]    With reference to FIGS. 8 and 9, a description is now made of an embodiment in which body action signals are produced for a motion object image expressed by contours inputted by handwriting. The embodiment will be described in connection with the case in which the motion object is a cat-like motion object image.  
         [0056]    [0056]FIG. 8 is a conceptual view for explaining the principle of changing a contour shape of a motion object image that is formed by inputting an image contour by handwriting. The contour of the motion object image is formed with the aid of spline curves using drawing software installed in the motion object controller shown in FIG. 7. Accordingly, the contour shape can be changed so as to represent a posture, in which a right hind leg is moved to an outward position expressing movement, by displacing a control point P of the spline curve, which is a parameter for a figure feature of a body portion of the motion object image, to P′ through a distance T. (It is to be noted that fixed edge nodes of the contour of the body portion are hidden.)  
         [0057]    Also, an image representing a novel posture of the motion object can be produced by performing operations, such as rotation, displacement, scale-up/down and change of color tones, on the displayed contour and figure elements of an original image. Thus, for an image expression of even a motion object not having an explicit mechanism model, images showing a series of actions of the motion object can be formed by changing visual features of the motion object image.  
         [0058]    [0058]FIGS. 9A, 9B and  9 C are schematic views for explaining changes in posture of the cat-like motion object image inputted by handwriting. FIG. 9A represents the basic posture, and FIGS. 9B and 9C represent action examples of the cat-like motion object, which are resulted by changing the basic posture shown in FIG. 9A. More specifically, the contours of arms and legs in the basic posture of the cat-like motion object are drawn, as shown in FIG. 9A, with spline curves having control points at distal ends of the motion object image. P 1 , P 2 , P 3 , P 4  and P 5  in FIG. 9A are control points of the spline curves representing a right hind leg contour, a right foreleg contour, a left hind leg contour, a left foreleg contour, and a tail contour, respectively. It is here assumed that an xy-coordinate system is set as shown in FIG. 9A, and xy-coordinate values of P 1 , P 2 , P 3 , P 4  and P 5  are expressed respectively by (x1, y1), (x2, y2), (x3, y3), (x4, y4) and (x5, y5).  
         [0059]    For the right hind leg, an image representing the inwardly bent leg can be formed by displacing the end point p1 in the positive direction of x. Conversely, an image representing the outwardly stretched right hind leg can be formed by displacing the end point p1 in the negative direction of x.  
         [0060]    Here, a value of the x-coordinate x 1  of P 1  in an original image is assumed to be x 10 . Also, a difference Δx 1  in x-coordinate between x 1  and the original image is defined herein by the following equation (4). When Δx 1  has a large positive value, the right hind leg is inwardly bent, and when Δx 1  has a large negative value, the right hind leg is outwardly stretched. Thus, a “bending/stretching degree T1 of the right hind leg” is defined by the following equation (5).  
         Δ x   1   =x   1   −x   10   (4)  
           T   1   =Δx   1   −x   1   −x   10   (5)  
         [0061]    Similarly, bending/stretching degrees T2, T3, T4 and T5 of the left foreleg, the right foreleg, the left hind leg, and the tail are defined by the following equations (6). In the equations (6), x 20 , x 30 , x 40  and y 50  are respectively coordinate values of x 2 , x 3 , x 4  and y 5  in the original image.  
                       T   2     =       x   2     -     x   20                     T   3     =     -     (       x   3     -     x   30       )                     T   4     =     -     (       x   4     -     x   40       )                     T   5     =       x   5     -     x   50               }           (   6   )                               
 
         [0062]    As patterns of the body actions, the “Upper-Lower” action and the “Homo-Lateral” action are defined as follows.  
         [0063]    The “Upper-Lower” action represents a set of motions satisfying:  
           T   1   =T   2  and T 3   =T   4   =T   5    
         [0064]    The “Homo-Lateral” action represents a set of motions satisfying:  
           T   1   =T   3   , T   2   =T   4  and T 5 =0  
         [0065]    When the degree of growth/development of the motion object is set to the stage of 6 months after birth, the action of the motion object is produced as the “Upper-Lower” action, and when the degree of growth/development of the motion object is set to the stage of 1 year after birth, the action of the motion object is produced as the “Homo-Lateral” action (see FIG. 3).  
         [0066]    In the case in which the emotional state of the motion object is set to “safety”, T =2sin(0.3t) is selected as the fundamental control signal T, and in the case in which the emotional state of the motion object is set to “exciting”, T =4sin(0.9t) is selected (see FIG. 2).  
         [0067]    For example, when the degree of growth/development of the motion object is set to the stage of 6 months after birth, the “Upper-Lower” action is selected as the pattern of the body action, and when the emotional state of the motion object is set to “safety”,  
           T= 2sin(0.3t)  
         [0068]    is selected as the fundamental control signal. Therefore, displacements of the control points of the image are decided with calculations expressed by the following equations (7) and (8), and images representing a series of motions are produced as shown in FIG. 9B.  
                       T   1     =       T   2     =     2        sin        (     0.3                 t     )                         T   3     =       T   4     =       T   5     =     2        sin        (     0.3                 t     )                     }           (   7   )                                           P   1     =       (       x   1     ,     y   1       )     =       (         T   1     +     x   10       ,     y   10       )     =     (         2        sin        (     0.3                 t     )         +     x   10       ,     y   10       )                       P   2     =       (       x   2     ,     y   2       )     =       (         T   2     +     x   20       ,     y   2       )     =     (         2        sin        (     0.3                 t     )         +     x   20       ,     y   20       )                             P   3     =       (       x   3     ,     y   3       )     =       (         -     T   3       +     x   30       ,     y   30       )     =     (           -   2          sin        (     0.3                 t     )         +     x   30       ,     y   30       )                             P   4     =       (       x   4     ,     y   4       )     =       (         -     T   4       +     x   40       ,     y   40       )     =     (           -   2          sin        (     0.3                 t     )         +     x   40       ,     y   40       )                             P   5     =       (       x   5     ,     y   5       )     =       (       x   50     ,       T   5     +     y   50         )     =     (       x   50     ,       2        sin   (     0.3                 t     )       +     y   50         )                 }           (   8   )                               
 
         [0069]    Also, for example, when the degree of growth/-development of the motion object is set to the stage of 1 year after birth, the “Homo-Lateral” action is selected as the pattern of the body action, and when the emotional state of the motion object is set to “exciting”,  
           T= 4sin(0.9t)  
         [0070]    is selected as the fundamental control signal. Therefore, displacements of the control points of the image are decided with calculations expressed by the following equations (9) and (10), and images representing a series of motions are produced as shown in FIG. 9C.  
                       T   1     =       T   3     =     4        sin        (     0.9                 t     )                         T   2     =       T   4     =     4        sin        (     0.9                 t     )                         T   5     =   0           }           (   9   )                                           P   1     =       (       x   1     ,     y   1       )     =       (         T   1     +     x   10       ,     y   10       )     =     (         4        sin        (     0.9                 t     )         +     x   10       ,     y   10       )                       P   2     =       (       x   2     ,     y   2       )     =       (         T   2     +     x   20       ,     y   2       )     =     (         4        sin        (     0.9                 t     )         +     x   20       ,     y   20       )                             P   3     =       (       x   3     ,     y   3       )     =       (         -     T   3       +     x   30       ,     y   30       )     =     (           -   4          sin        (     0.9                 t     )         +     x   30       ,     y   30       )                             P   4     =       (       x   4     ,     y   4       )     =       (         -     T   4       +     x   40       ,     y   40       )     =     (           -   4          sin        (     0.9                 t     )         +     x   40       ,     y   40       )                             P   5     =       (       x   5     ,     y   5       )     =       (       x   50     ,       T   5     +     y   50         )     =     (       x   50     ,     y   50       )                 }           (   10   )                               
 
         [0071]    Furthermore, an operation signal producing program for producing the operation signals for the motion object can be stored in the storage  14  of the motion object controller  10  shown in FIG. 7 so that the above-described method of the present invention is executed by the motion object controller  10 . The operation signal producing program is stored in the storage  14  with key-input from the keyboard, read from a floppy on which the program is recorded, or installation.