Patent Description:
Robots are known that communicate with humans. For example, Unexamined <CIT> describes a technique for removably dressing a walking robot with a costume. Applying an adornment such as a costume to a robot can create a sense of closeness to the robot and can enhance the entertainment based on appearance of the robot.

With robots to which adornments can be applied as described above, there is a demand for further enhancements in entertainment due not only to appearance, but also to operations corresponding to appearance.

<CIT> discloses an intelligent robot with different accouterments. The intelligent robot includes a robot body and a number of accouterments working together with the robot body. The robot body includes a central control module and a number of functional modules corresponding to the number of accouterments. The number of accouterments can be defined in different types and functions. Thus, the intelligent robot can display different functions and provide value-added service.

In light of such a problem, an objective of the present disclosure is to provide a robot capable of enhancing entertainment, a robot control system, a robot control method, and a program.

A robot according to an aspect of the present disclosure includes: operation means for causing the robot to operate; adornment information acquisition means for acquiring adornment information indicating an adornment that is applied to the robot; and operation control means for controlling the operation means to perform an operation corresponding to the adornment information acquired by the adornment information acquisition means, the robot further comprises: determination means for determining whether or not the adornment is applied to the robot, wherein the adornment information acquisition means is configured to acquire acquires the adornment information when a determination that the adornment is applied to the robot is made by the determination means.

A robot control system according to an aspect of the present disclosure includes:.

A robot control method according to an aspect of the present disclosure includes: acquiring adornment information indicating an adornment that is applied to a robot; and controlling the robot to perform an operation corresponding to the acquired adornment information, the robot control method further comprises: determining whether or not the adornment is applied to the robot, wherein the adornment information is acquired when a determination that the adornment is applied to the robot is made.

Additional objects and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objects and advantages of the invention may be realized and obtained by means of the instrumentalities and combinations particularly pointed out hereinafter.

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention, and together with the general description given above and the detailed description of the embodiments given below, serve to explain the principles of the invention.

Hereinafter, embodiments of the present disclosure are described while referencing the drawings. Note that, in the drawings, identical or corresponding components are marked with the same reference numerals.

<FIG> illustrates the appearance of a robot <NUM> according to Embodiment <NUM> of the present disclosure. The robot <NUM> has a shape resembling that of a human (child), and is a device that operates autonomously according to a predefined operation program.

The robot <NUM> performs various operations in response to external stimulation, such as calls from and contact by a certain target that exists outside the robot <NUM>. Thus, the robot <NUM> can communicate with the certain target and interact with the certain target. The certain target is an entity that exists outside the robot <NUM> and that communicates and interacts with the robot <NUM>. Examples of the certain target include a user that is the owner of the robot <NUM>, a human near the user (family, friend, or the like of the user), and an animal near the user (pet or the like owned by the user or the like). The certain target can also be referred to as a communication target, a communication partner, an interaction target, an interaction partner, or the like.

As illustrated in <FIG>, the robot <NUM> has a three-dimensional shape with an appearance resembling a human (child). The robot <NUM> is fabricated using a hard synthetic resin such as plastic, for example, as the main material. The robot <NUM> includes a head <NUM>, a body <NUM>, eyes <NUM>, a mouth <NUM>, hand portions <NUM>, and feet <NUM>.

The head <NUM>, the hands <NUM>, and the feet <NUM> are parts that can be moved by drive members installed in the robot <NUM>. The head <NUM> is attached to the body <NUM> by a neck joint so as to be rotatable in the three directions of pitch, roll, and yaw. The neck joint is provided on the neck. The eyes <NUM> are provided with a display <NUM> that displays an image related to the eyes (eyeballs or the like). The mouth <NUM> is provided with an imager 115a that images the space in front of the robot <NUM>.

<FIG> illustrates the hardware configuration of the robot <NUM>. As illustrated in <FIG>, the robot <NUM> includes a controller (central processing unit) <NUM>, a storage unit <NUM>, a battery <NUM>, a driving driver <NUM>, movable parts <NUM>, a sensor section <NUM>, a wireless communicator <NUM>, a display <NUM>, a speech outputter <NUM>, and an image recognizer <NUM>.

The controller <NUM> includes a central processing unit (CPU), read only memory (ROM), and random access memory (RAM). In one example, the CPU is a microprocessor or the like and is a central processing unit that executes a variety of processing and computation. In the controller <NUM>, the CPU reads out a control program stored in the ROM and controls the operation of the entire robot <NUM> while using the RAM as working memory.

The storage unit <NUM> is nonvolatile memory such as flash memory or a hard disk. The storage unit <NUM> stores an operating system (OS), application programs, and other programs and data used by the controller <NUM> to perform the various processes. Moreover, the storage unit <NUM> stores data generated or acquired as a result of the controller <NUM> performing the various processes.

The battery <NUM> is a storage battery that stores electrical energy and supplies power to the various components of the robot <NUM>. When the robot <NUM> has returned to the charging station, the battery <NUM> is charged by the charging station.

The driving driver <NUM> includes the drive members such as a motors and actuators that drive the movable parts <NUM> of the robot <NUM>, and drive circuits that drive these drive members. The movable parts <NUM> are parts that can move, specifically the head <NUM>, the hands <NUM>, and the feet <NUM>. The controller <NUM> sends control signals to the drive circuits on the basis of the operation program. The drive circuits provide driving pulse signals to the drive members in accordance with the control signals sent from the controller <NUM>. The drive members drive the movable parts <NUM> in accordance with the pulse signals provided from the drive circuits.

The driving driver <NUM> drives the movable parts <NUM>, thereby causing the robot <NUM> to perform various operations. For example, by moving the feet <NUM>, the robot <NUM> can be moved forward or backward, or the direction of the robot <NUM> can be changed. Additionally, by moving the head <NUM> or the hands <NUM>, the robot <NUM> can imitate human operations and human gestures.

The sensor section <NUM> includes a plurality of sensors that detect physical quantities around or inside the robot <NUM>. As illustrated in <FIG>, the sensor section <NUM> includes an imager 115a that captures an image of the surroundings of the robot <NUM>, a sound sensor 115b that detects sound, a contact sensor 115c that detects contact with the robot <NUM>, and a distance sensor 115d that measures distances to surrounding objects. In addition, while not illustrated in the drawings, the sensor section <NUM> includes an acceleration sensor that detects movement of the robot <NUM>, a gyro sensor that detects rotation of the robot <NUM>, a geomagnetic sensor that detects the orientation of the robot <NUM>, a temperature sensor that detects the temperature of the surroundings of the robot <NUM>, an atmospheric pressure sensor that detects the atmospheric pressure of the surroundings of the robot <NUM>, and the like.

The imager 115a is a so-called camera, and is installed in the mouth <NUM>. The imager 115a includes an image acquirer that acquires an image of a target by collecting light reflected from the target and an image processor that processes the image acquired by the image acquirer. The imager 115a functions as imaging means (robot-side imaging means) that captures an image of the space in front of the robot <NUM>. The sound sensor 115b is installed in the head <NUM> and detects speech uttered by the certain target, ambient environmental sounds, and the like. While not illustrated in the drawings, the robot <NUM> includes, as the sound sensor 115b, a plurality of microphones arranged surrounding the head <NUM>. This configuration enables the efficient detection of sounds generated from all directions. Other sensors are installed at various locations of the robot <NUM>. The robot <NUM> acquires information indicating the surrounding state and the internal state of the robot <NUM> via these sensors. The sensor section <NUM> acquires information indicating the surrounding state and the internal state of the robot <NUM> via this plurality of sensors and supplies this information to the controller <NUM>.

The wireless communicator <NUM> includes an interface for wirelessly communicating with external devices. Under the control of the controller <NUM>, the wireless communicator <NUM> wirelessly communicates with external devices, including the charging station, in accordance with a communication standard such as Wireless Fidelity (Wi-Fi) or a similar wireless local area network (LAN), Bluetooth (registered trademark), or Near Field Communication (NFC).

The display <NUM> is a display device such as a liquid crystal display, an organic electro luminescence (EL) display, or a light emitting diode (LED). The display <NUM> is installed in the eyeball portions of the eyes <NUM> and, under the control by a display drive circuit (not illustrated in the drawings), displays various images according to the situation.

The speech outputter <NUM> includes a speaker and a speech output interface. The speech outputter <NUM> converts speech data generated by the controller <NUM> to speech, and outputs this speech out of the robot <NUM>. The speaker is installed in the head <NUM>. The speech outputter <NUM> outputs various types of speech including animal sounds and human language. For example, the robot <NUM> collects the speech of the certain target via the sound sensor 115b, and outputs, from the speech outputter <NUM>, speech corresponding to the utterance content of the certain target. As a result, the robot <NUM> is capable of simple conversation with the certain target.

The image recognizer <NUM> includes a processor for image processing such as a digital signal processor (DSP) or a graphics processing unit (GPU), and buffer memory that temporarily saves images to be processed. The image recognizer <NUM> recognizes the images captured by the imager 115a. The image recognizer <NUM> uses well-known image recognition techniques to recognize people, faces, objects, patterns, and the like included in the images captured by the imager 115a. The image recognizer <NUM> recognizes the face of the certain target captured by the imager 115a.

Next, the functional configuration of the robot <NUM> is described while referencing <FIG>. As illustrated in <FIG>, the robot <NUM> functionally includes an operator <NUM>, an operation controller <NUM>, a determiner <NUM>, an adornment information acquirer <NUM>, and an operation setter <NUM>. In the controller <NUM>, the CPU performs control to read the program stored in the ROM out to the RAM and execute that program. Thus, the CPU functions as the various components, namely the operation controller <NUM>, the determiner <NUM>, the adornment information acquirer <NUM>, and the operation setter <NUM>.

The operator <NUM> is a component that causes the robot <NUM> to perform operations. Specifically, the operator <NUM> includes the movable parts <NUM>, the display <NUM>, and the speech outputter <NUM>, and causes the robot <NUM> to perform operations by moving the movable parts <NUM>, displaying an image on the display <NUM>, or outputting speech from the speech outputter <NUM>. The operator <NUM> functions as operation means.

The operation controller <NUM> controls the operator <NUM> to cause the robot <NUM> to perform various predefined operations. For example, the operation controller <NUM> changes the position, direction, posture, or the like of the robot <NUM> by moving the movable parts <NUM> including the feet <NUM>. In another example, the operation controller <NUM> changes the facial expression of the robot <NUM> by displaying an image on the display <NUM>. In yet another example, the operation controller <NUM> causes the robot <NUM> to converse with the certain target by outputting speech from the speech outputter <NUM>. The operation controller <NUM> is realized by cooperation between the controller <NUM>, the driving driver <NUM>, the movable parts <NUM>, the display <NUM>, and the speech outputter <NUM>. The operation controller <NUM> functions as operation control means.

The determiner <NUM> determines whether an adornment is applied to the robot. Here, the term "adornment" refers to a costume, an accessory, eyeglasses, a watch, or the like, and is an article (part) that is attached as an add-on to the exterior of the robot <NUM>. The determiner <NUM> determines whether the user, for example, has attached such an adornment to the robot <NUM>.

Specifically, the determiner <NUM> determines, on the basis of a captured image in which the robot <NUM> is captured, whether an adornment is applied to the robot. <FIG> illustrates a situation in which an image of the robot <NUM>, wearing a hat <NUM> as an adornment, is captured. <FIG> illustrates a captured image <NUM> of the robot <NUM> obtained as a result of the image capturing.

As illustrated in <FIG>, when the user applies some sort of adornment to the robot <NUM>, the user captures an image of the appearance of the robot <NUM> using a communication terminal <NUM>. Thus, the user acquires a captured image <NUM> such as that illustrated in <FIG>, for example. The communication terminal <NUM> is a device that is provided with an imager (communication terminal-side imager), such as a smartphone, a mobile phone, a digital camera, or the like. When the user captures an image of the robot <NUM> using the communication terminal <NUM>, the captured image <NUM> obtained by the image capturing is sent from the communication terminal <NUM> to the robot <NUM>. The determiner <NUM> acquires, via the wireless communicator <NUM>, the captured image <NUM> sent from the communication terminal <NUM>. The captured image <NUM> may be sent directly from the communication terminal <NUM> to the robot <NUM>, or may be sent indirectly to the robot <NUM> via another device such as the charging station, a server, or the like.

When the determiner <NUM> acquires the captured image <NUM> of the robot <NUM>, the determiner <NUM> determines whether an adornment is applied to the robot <NUM> by comparing the acquired captured image <NUM> with a reference image. The reference image is an image that serves as a reference of the default appearance of the robot <NUM>, and depicts an appearance of the robot <NUM> in a state that is free of any adornments. The determiner <NUM> recognizes, via the functions of the image recognizer <NUM>, the robot <NUM> captured in the captured image <NUM>. Then, when there is a difference between the appearance of the recognized robot <NUM> and the appearance of the robot <NUM> depicted in the reference image, the determiner <NUM> determines that an adornment is applied to the robot <NUM>. The determiner <NUM> is realized by cooperation between the controller <NUM>, the communication unit <NUM>, and the image recognizer <NUM>. The determiner <NUM> functions as determination means.

When an adornment is applied to the robot <NUM>, the adornment information acquirer <NUM> acquires adornment information indicating that adornment. The adornment information is information that identifies the adornment that is applied to the robot <NUM>. The adornment information acquirer <NUM> acquires the adornment information on the basis of the captured image <NUM> in which the robot <NUM> is captured.

Specifically, when the determiner <NUM> determines that an adornment is applied to the robot <NUM>, the adornment information acquirer <NUM> acquires the difference between the robot <NUM> captured in the captured image <NUM> and the robot <NUM> depicted in the reference image. Then, the determiner <NUM> identifies, by an object recognition technique, an object corresponding to the acquired difference.

When, for example, the hat <NUM> is placed on the robot <NUM> as illustrated in <FIG>, the adornment information acquirer <NUM> acquires adornment information indicating that the adornment applied to the robot <NUM> is the hat <NUM>. Alternatively, when a costume is placed on the robot <NUM>, the adornment information acquirer <NUM> acquires adornment information indicating that the adornment applied to the robot <NUM> is a costume. The adornment information acquirer <NUM> is realized by cooperation between the controller <NUM> and the image recognizer <NUM>. The adornment information acquirer <NUM> functions as adornment information acquisition means.

The operation setter <NUM> sets, according to the adornment information acquired by the adornment information acquirer <NUM>, an operation to be performed by the operator <NUM>. Specifically, the operation setter <NUM> references a predefined operation table <NUM>. The operation table <NUM> is a table that defines operations (hereinafter referred to as "adornment operations") corresponding to adornments applied to the robot <NUM>. The operation table <NUM> is stored in advance in the storage unit <NUM>.

<FIG> illustrates a specific example of the operation table <NUM>. As illustrated in <FIG>, each adornment applied to the robot <NUM> is associated with the content of an adornment operation that the robot <NUM>, to which that adornment is applied, is caused to perform. For example, (<NUM>) when a tall hat is applied as the adornment, the operation setter <NUM> changes the travel route of the robot <NUM> to a route with looser height restrictions so that the hat does not strike any obstacles when the robot <NUM> moves. (<NUM>) When heavy winter clothing is applied as the adornment, the operation setter <NUM> narrows the range of motion of the head <NUM>, the hands <NUM>, and the feet <NUM>, thereby slowing down the movement of the robot <NUM>. (<NUM>) When sunglasses are applied as the adornment, the operation setter <NUM> lowers the brightness of the display <NUM>, thereby suppressing the power consumption of the eyes <NUM>. Additionally, when the sunglasses are not applied, the operation setter <NUM> changes the travel route of the robot <NUM> so as to avoid sunny routes more than when the sunglasses are applied. (<NUM>) When eyeglasses are applied as the adornment, the operation setter <NUM> sets a gesture of adjusting the eyeglasses using the hands <NUM>. (<NUM>) When a wristwatch is applied as the adornment, the operation setter <NUM> sets a gesture of looking at the wristwatch. In addition, when a camera, a skirt, or the like is applied as the adornment such as in (<NUM>) to (<NUM>) illustrated in <FIG>, the operation setter <NUM> sets the adornment operation such that a function or a skill using that adornment is demonstrated.

When a plurality of adornments is applied to the robot <NUM>, the operation setter <NUM> sets the operation according to the plurality of adornments. For example, (<NUM>) When a brush and a painter hat are applied, the operation setter <NUM> sets the operation of the robot <NUM> such that the robot <NUM> draws more skillfully than when only the brush is applied. (<NUM>) When presentation notes and a laser pointer or a pointing stick are applied, the operation setter <NUM> sets the operation of the robot <NUM> so as to deliver a presentation using the laser pointer or the pointing stick.

When an adornment is applied to the robot <NUM>, the operation setter <NUM> may set the operation according to the location where the adornment is performed. For example, (<NUM>) when a brush is applied to the dominant hand as the adornment, the operation setter <NUM> sets the operation of the robot <NUM> such that the robot <NUM> draws more skillfully than when the brush is applied to the non-dominant hand. (<NUM>) When a ribbon is applied to the head as the adornment, the operation setter <NUM> recognizes the ribbon as a hair ornament and sets the operation of the robot <NUM> such that the robot <NUM> behaves like a girl. (<NUM>) When a ribbon is applied to the neck as the adornment, the operation setter <NUM> recognizes the ribbon as a necktie and sets the operation of the robot <NUM> such that the robot <NUM> behaves like a boy.

Thus, the operation setter <NUM> sets various operations according to the adornment applied to the robot <NUM>. The operation setter <NUM> is realized by cooperation between the controller <NUM> and the storage unit <NUM>.

When the operation setter <NUM> sets the operation, the operation controller <NUM> controls the operator <NUM> to cause the robot <NUM> to perform the set operation. In other words, when an adornment is applied to the robot <NUM>, the operation controller <NUM> controls the operator <NUM> to perform the adornment operation corresponding to that adornment.

For example, when heavy winter clothing, namely the costume <NUM>, is applied as the adornment, the operation controller <NUM> narrows the range of motion of the hands <NUM>, as illustrated in <FIG>. Specifically, the operation controller <NUM> controls the operation of the hands <NUM> such that the motion of the hands <NUM> in the directions indicated by the arrows in <FIG> is smaller than when the costume <NUM> is not applied. Alternatively, when eyeglasses <NUM> are applied as the adornment, the operation controller <NUM> causes a hand <NUM> to move to the head <NUM> as illustrated in <FIG> to perform a gesture of adjusting the eyeglasses <NUM>.

Thus, the operation controller <NUM> causes the robot <NUM> to perform the various operations defined in <FIG> by driving the head <NUM>, the hands <NUM>, and the feet <NUM>, displaying an image on the display <NUM>, or outputting speech from the speech outputter <NUM>. Since the robot <NUM> performs a variety of operations according to the adornments, the user can be entertained.

Next, the flow of the processing executed in the robot <NUM> configured as described above is described while referencing the flowchart illustrated in <FIG>.

The robot control processing illustrated in <FIG> is started when the robot <NUM> is placed in a normal operable state. The normal operable state is defined by the power supply of the robot <NUM> being turned ON and the battery <NUM> being charged.

When the robot control processing starts, the controller <NUM> functions as the operation controller <NUM> and causes the operator <NUM> to execute a normal operation (step S1). Here, the phrase "normal operation" refers to an operation under normal conditions that is unrelated to whether an adornment is applied to the robot <NUM>. For example, the controller <NUM> changes the position, direction, posture, or the like of the robot <NUM> by moving the movable parts <NUM>. Alternatively, the controller <NUM> displays an image on the display <NUM> and outputs speech from the speech outputter <NUM>. Thus, the controller <NUM> causes the robot <NUM> to perform behavior typical of a robot by causing the operator <NUM> to execute various predefined operations.

During the period in which the controller <NUM> is causing the operator <NUM> to execute the normal operation, the controller <NUM> functions as the determiner <NUM> and determines whether an adornment is applied to the robot <NUM> (step S2). Specifically, the controller <NUM> acquires the captured image <NUM> obtained as a result of the user imaging the robot <NUM>, and determines whether an adornment is applied to the robot <NUM> by comparing the acquired captured image <NUM> with the reference image.

When the controller <NUM> determines that an adornment is not applied to the robot <NUM> (step S2; NO), the controller <NUM> remains at step S1 and continues to cause the operator <NUM> to execute the normal operation.

When the controller <NUM> determines that an adornment is applied to the robot <NUM> (step S2; YES), the controller <NUM> functions as the adornment information acquirer <NUM> and acquires the adornment information indicating the adornment applied to the robot <NUM> (step S3). Specifically, the controller <NUM> performs object recognition on the difference between the captured image <NUM> of the robot <NUM> and the reference image. As a result, the controller <NUM> identifies if the adornment applied to the robot <NUM> is, for example, the hat <NUM>, the costume <NUM>, the eyeglasses <NUM>, or the like.

When the controller <NUM> acquires the adornment information, the controller <NUM> functions as the operation setter <NUM> and sets the adornment operation corresponding to the adornment applied to the robot <NUM> (step S4). Specifically, the controller <NUM> references the operation table illustrated in <FIG>, identifies the operation corresponding to the adornment applied to the robot <NUM>, and sets the identified operation as the operation to be performed by the robot <NUM>.

When the controller <NUM> sets the adornment operation, the controller <NUM> functions as the operation controller <NUM> and causes the robot <NUM> to perform the set operation (step S5). Specifically, the controller <NUM> controls the movable parts <NUM>, the display <NUM>, or the speech outputter <NUM> and causes the robot <NUM> to perform the operation corresponding to the adornment, such as illustrated in <FIG>.

When the robot <NUM> is caused to perform the adornment operation, the controller <NUM> returns to the processing of step S1 and repeats the processing of steps S1 to S5. In other words, each time an adornment is applied to the robot <NUM> while the robot <NUM> is performing the normal operation, the controller <NUM> repeats the processing that causes the robot <NUM> to perform the operation corresponding to that adornment.

As described above, the robot <NUM> according to Embodiment <NUM> determines whether an adornment is applied to the robot <NUM> and, when it is determined that an adornment is applied to the robot <NUM>, performs an operation corresponding to that adornment. Thus, with the robot <NUM> that the user can adorn as desired, the robot <NUM> performs various operations in response to the adornments applied to the robot <NUM>. As a result, the entertainment of the robot <NUM> can be enhanced.

Note that, in Embodiment <NUM>, the determiner <NUM> determines, on the basis of the captured image <NUM> that is captured by the user, whether an adornment is applied to the robot <NUM>. However, in the present disclosure, the determiner <NUM> may use the contact sensor 115c or a switch to determine whether an adornment is applied to the robot <NUM>. For example, a configuration is possible in which the contact sensor 115c or the switch is disposed at a plurality of locations where adornments may be applied to the robot <NUM>, and attachable locations are predetermined on the basis of the type of adornment. In this case, for example, if the adornment is the hat <NUM>, the adornment is applied to the head <NUM>; if the adornment is the costume <NUM>, the adornment is applied to the body <NUM>; and if the adornment is the eyeglasses <NUM>, the adornment is applied to the eyes <NUM>. Additionally, in this case, when contact by the contact sensor 115c is detected at one of the locations or pressing by the switch is detected at one of the locations, the determiner <NUM> determines that an adornment is applied. Then, depending on the location of the contact sensor 115c or the switch where the adornment is detected, the adornment information acquirer <NUM> acquires the adornment information indicating if the adornment is, for example, the hat <NUM>, the contact sensor 115c, or the eyeglasses <NUM>.

Additionally, a configuration is possible in which an integrated circuit (IC) tag is embedded in the adornment in advance, and the determiner <NUM> determines whether the adornment is applied to the robot <NUM> by wireless communication such as NFC using the IC tag. Specifically, when an adornment is applied to the robot <NUM>, the determiner <NUM> receives, via the function of the wireless communicator <NUM>, a wireless signal emitted from the IC tag embedded in that adornment. When the determiner <NUM> receives the wireless signal from the IC tag, the determiner <NUM> determines that the adornment is applied to the robot <NUM>. Additionally, identification information for identifying the adornment is included in the wireless signal emitted from the IC tag. The adornment information acquirer <NUM> acquires, on the basis of this identification information, the adornment information indicating if the adornment applied to the robot <NUM> is, for example, the hat <NUM>, the contact sensor 115c, or the eyeglasses <NUM>.

Next, Embodiment <NUM> of the present disclosure will be described. In Embodiment <NUM>, as appropriate, descriptions of configurations and functions that are the same as described in Embodiment <NUM> are forgone.

The robot <NUM> according to Embodiment <NUM> determines whether an adornment is applied to the robot <NUM> and acquires the adornment information on the basis of the captured image <NUM> captured by the user. In contrast, the robot <NUM> according to Embodiment <NUM> acquires the captured image <NUM> by using a mirror provided on the charging station to image the appearance of the robot <NUM>. The robot <NUM> according to Embodiment <NUM> is described below.

<FIG> illustrates a robot control system <NUM> according to Embodiment <NUM>. The robot control system <NUM> includes the robot <NUM> and a charging station <NUM>. The robot <NUM> has the same configuration as described in Embodiment <NUM>.

The charging station <NUM> is equipment for charging the robot <NUM>. The charging station <NUM> is installed at an appropriate location such that the robot <NUM> can autonomously move (return) to the charging station <NUM>. Examples of the appropriate location include a location in the same room as the robot <NUM>.

As illustrated in <FIG>, the charging station <NUM> includes a mirror <NUM> on an upper portion and a stand <NUM> on a lower portion. The stand <NUM> includes a columnar support that supports the mirror <NUM> and a plate-like bottom on which the robot <NUM> is placed. As illustrated in <FIG>, the charging station <NUM> includes, as components related to control, a controller <NUM>, a storage unit <NUM>, a communicator <NUM>, a power supply <NUM>, and a charger <NUM>.

The controller <NUM> includes a CPU, ROM, and RAM. In one example, the CPU is a microprocessor or the like and is a central processing unit that executes a variety of processing and computation. In the controller <NUM>, the CPU reads out a control program stored in the ROM and controls the operation of the entire charging station <NUM> while using the RAM as working memory.

The storage unit <NUM> is nonvolatile memory such as flash memory or a hard disk. The storage unit <NUM> stores programs and data used by the controller <NUM> to perform various processes. Moreover, the storage unit <NUM> stores data generated or acquired as a result of the controller <NUM> performing the various processes.

The communicator <NUM> includes an interface for performing wired or wireless communication with external devices. Under the control of the controller <NUM>, the communicator <NUM> wirelessly communicates with the robot <NUM> in accordance with a communication standard such as Wi-Fi or a similar wireless LAN, or Bluetooth (registered trademark).

The power supply <NUM> includes a power supply circuit, and produces and supplies the necessary power to the various components of the charging station <NUM>. The charger <NUM> includes a charging circuit and charges the battery <NUM> of the robot <NUM>.

As illustrated in <FIG>, the charger <NUM> is provided at the bottom of the stand <NUM>. When the robot <NUM> has returned to the charging station <NUM>, the robot <NUM> stays on top of the charger <NUM>. Electrodes that receive charging from the charger <NUM> are provided on the bottom surfaces of the feet <NUM> of the robot <NUM>. The charger <NUM> supplies power generated by the power supply <NUM> to the robot <NUM> via the electrodes on the feet <NUM>, thereby charging the battery <NUM> of the robot <NUM> that has returned to the charging station <NUM>.

The mirror <NUM> includes a mirror surface that reflects visible light. The mirror surface is provided at a position facing the robot <NUM> that has returned to the charging station <NUM>. The front of the robot <NUM> faces the mirror <NUM> while the robot <NUM> is being charged by the charger <NUM>. In this state, the mirror surface of the mirror <NUM> is within the imaging range (the area defined by the dashed lines in <FIG>) of the imager 115a of the robot <NUM>.

When viewed from the imager 115a while the robot <NUM> is being charged by the charger <NUM>, the area defined by the dash-dot lines in <FIG> appears in the mirror surface of the mirror <NUM> as a mirror image. Thus, the shape, dimensions, and installation location of the mirror surface of the mirror <NUM> are determined such that the entire robot <NUM> is included, as a mirror image, within the imaging range of the imager 115a of the robot <NUM> during charging.

The location of the charging station <NUM> is stored in advance in the storage unit <NUM>. When a predetermined charging condition is satisfied, the robot <NUM> drives the movable parts <NUM> and moves the robot <NUM> to the location of the charging station <NUM> in order to charge the battery <NUM>. The predetermined charging condition is a predetermined condition for charging the robot <NUM>. Specifically, the predetermined charging condition is satisfied when an amount of charge of the battery <NUM> is below a specified value, or when a predefined periodic timing arrives. Charging by the charger <NUM> starts when the charging condition is satisfied and the robot <NUM> is positioned at the charging station <NUM>. When the charging starts, the imager 115a captures, via the mirror <NUM>, the appearance of the robot <NUM> being charged, thereby acquiring the captured image <NUM>.

The determiner <NUM> determines, on the basis of the captured image <NUM> of the robot <NUM> that is obtained by the imager 115a, whether an adornment is applied to the robot <NUM>. Specifically, upon the acquisition of the captured image <NUM> of the robot <NUM> by the imager 115a, the determiner <NUM> determines whether an adornment is applied to the robot <NUM> by comparing the captured image <NUM> with the reference image, as in Embodiment <NUM>.

When the determiner <NUM> determines that an adornment is applied to the robot <NUM>, the adornment information acquirer <NUM> acquires the adornment information indicating that adornment. Specifically, the adornment information acquirer <NUM> uses the image recognizer <NUM> to identify the difference between the captured image <NUM> and the reference image, thereby discerning whether the adornment applied to the robot <NUM> is, for example, the hat <NUM>, the costume <NUM>, or the eyeglasses <NUM>. The operation setter <NUM> sets, according to the adornment information acquired by the adornment information acquirer <NUM>, an operation to be performed by the operator <NUM>. The operation controller <NUM> controls the operator <NUM> to perform the operation set by the operation setter <NUM>. The functions of these components are the same as described in Embodiment <NUM>.

As described above, the robot <NUM> according to Embodiment <NUM> determines and identifies the adornment applied to the robot <NUM> by imaging the appearance of the robot <NUM> using the mirror <NUM> of the charging station <NUM> while the robot <NUM> is being charged by the charging station <NUM>. Since the robot <NUM> according to Embodiment <NUM> captures an image of the appearance of the robot <NUM> using the mirror <NUM>, the need for imaging the robot <NUM> by an external device such as the communication terminal <NUM> in Embodiment <NUM> is eliminated. As such, with the robot <NUM> that performs various operations corresponding to adornments, less effort is needed to determine and identify the adornment that is applied to the robot <NUM>.

Note that, in Embodiment <NUM>, the charging station <NUM> includes the mirror <NUM>. However, in the present disclosure, the mirror <NUM> may be provided at a location other than the charging station <NUM>. For example, a typical mirror used as furniture may be used as the mirror <NUM> for imaging the appearance of the robot <NUM>. In this case, the location of the mirror <NUM> is stored in advance in the storage unit <NUM>, and the operation controller <NUM> controls the operator <NUM> to move the robot <NUM> to the location where the mirror is provided at a predetermined periodic timing, for example. Then, when the operation controller <NUM> has controlled the operator <NUM> to move the robot <NUM> in front of the mirror <NUM>, the imager 115a captures an image of the robot <NUM> via the mirror <NUM>, thereby acquiring the captured image <NUM>.

A configuration is possible in which the robot <NUM> captures an image of the appearance of the robot <NUM> by the imager 115a of the robot <NUM>, without using the mirror <NUM>. For example, in a case in which the imager 115a is provided at the tip of one of the hands <NUM>, the robot <NUM> can capture an image of the appearance of the robot <NUM> by extending that hand <NUM> and directing the imaging range of the imager 115a toward the robot <NUM>. Thus, in some configurations of the robot <NUM>, the captured image <NUM> in which the robot <NUM> is captured can be acquired without using the mirror <NUM>.

A configuration is possible in which, as shown in <FIG>, for example, a charging station 310a includes an imager <NUM> that captures an image of the robot <NUM>. In a robot control system 300a illustrated in <FIG>, the charging station 310a includes the imager <NUM> at the location where the mirror <NUM> is provided in <FIG>. The imager <NUM> functions as station-side imaging means and captures the area defined by the dashed lines in <FIG> as the imaging range. Thus, the imager <NUM> acquires the captured image <NUM> in which the appearance of the robot <NUM> being charged by the charger <NUM> is depicted. The controller <NUM> cooperates with the communicator <NUM> to function as transmission means, and sends the captured image <NUM> captured by the imager <NUM> to the robot <NUM>.

In the robot <NUM>, the controller <NUM> cooperates with the wireless communicator <NUM> to function as receiving means, and receives the captured image <NUM> sent from the charging station 310a. Then, the determiner <NUM> determines, on the basis of the received captured image <NUM>, whether an adornment is applied to the robot <NUM>. When the determiner <NUM> determines that an adornment is applied to the robot <NUM>, the adornment information acquirer <NUM> acquires the adornment information indicating that adornment. Thus, since the charging station 310a includes the imager <NUM>, it is possible to capture an image of the appearance of the robot <NUM> without using a mirror and determine whether an adornment is applied to the robot <NUM>.

Next, Embodiment <NUM> of the present disclosure will be described. In Embodiment <NUM>, as appropriate, descriptions of configurations and functions that are the same as described in Embodiment <NUM> or <NUM> are forgone.

<FIG> illustrates the functional configuration of a robot 100a according to Embodiment <NUM>. As illustrated in <FIG>, the robot 100a according to Embodiment <NUM> functionally includes an operator <NUM>, an operation controller <NUM>, a determiner <NUM>, an adornment information acquirer <NUM>, and an operation setter <NUM>. These components function in the same manner as the components described in Embodiment <NUM> or <NUM>. In addition to these components, the robot 100a according to Embodiment <NUM> includes a presence detector <NUM>, an action detector <NUM>, and a reaction acquirer <NUM>. In the controller <NUM>, the CPU performs control and reads the program stored in the ROM out to the RAM and executes that program, thereby functioning as the various components described above.

The presence detector <NUM> detects the presence of the certain target, namely the user or the like, that is present outside the robot 100a. Specifically, the presence detector <NUM> uses the imager 115a to capture an image of the surroundings of the robot 100a, thereby acquiring an image representing the state of the surroundings of the robot 100a. Then, using the image recognizer <NUM>, the presence detector <NUM> recognizes the image acquired by the imager 115a and determines wither a human or an animal is captured in the image. Thus, the presence detector <NUM> is realized by cooperation between the controller <NUM>, the imager 115a, and the image recognizer <NUM>.

The action detector <NUM> detects an action that the certain target performs on the robot 100a. Here, "an action that the certain target performs on the robot 100a" refers to an action such as conversing or contacting performed by the certain target for the purpose of interacting (communicating) with the robot <NUM>. Examples of actions that the certain target performs on the robot 100a include calling out to the robot 100a, contacting the surface of the robot 100a, or demonstrating a gesture to the robot 100a. The action detector <NUM> detects such actions performed by the certain target using the various sensors of the sensor section <NUM>.

Specifically, in a case in which the certain target calling out to the robot 100a, the action detector <NUM> detects, via the sound sensor 115b, the speech uttered by the certain target. In a case in which the certain target contacts the robot 100a, the action detector <NUM> detects the contact via the contact sensor 115c. In a case in which the certain target demonstrates a gesture to the robot 100a, the action detector <NUM> detects the gesture via the imager 115a. Thus, the action detector <NUM> is realized by cooperation between the controller <NUM> and the various sensors of the sensor section <NUM>. The action detector <NUM> functions as action detection means.

When the action detector <NUM> detects an action performed by the certain target on the robot 100a, the operation controller <NUM> controls the operator <NUM> to perform an interaction operation for responding to the detected action. The interaction operation is an operation whereby the robot 100a interacts (communicates) with the certain target, and is also called a "response operation" or a "response action".

Specifically, when the action detector <NUM> detects speech, a contact, a gesture, or the like of the certain target, the operation controller <NUM> performs the interaction operation by moving the head <NUM> to face the certain target or moving the feet <NUM> to move toward the certain target. Alternatively, the operation controller <NUM> may perform the interaction operation by displaying an image on the display <NUM> or outputting speech from the speech outputter <NUM>. Thus, the operation controller <NUM> causes the robot 100a to perform various operations as the interaction operation in response to the actions of the certain target detected by the action detector <NUM>. As a result, the certain target can enjoy communication with the robot 100a.

When the action detector <NUM> does not detect an action of the certain target on the robot 100a, the operation controller <NUM> controls the operator <NUM> to perform a solo operation, which differs from the interaction operation. The solo operation is an operation that the robot 100a performs alone, independent of the certain target, and is a spontaneous operation that does not involve interaction (communication) with the certain target. The solo operation is also called "acting alone" or "playing alone.

In other words, in cases in which the robot 100a interacts with a target present in the surroundings of the robot 100a, the operation controller <NUM> causes the robot 100a to perform the interaction operation. In cases in which the robot 100a is not interacting with a target present in the surroundings of the robot 100a, the operation controller <NUM> causes the robot 100a to perform the solo operation. As a result, the robot can be caused to perform natural operations that imitate a real person (child), and the sense of closeness with the robot 100a can be enhanced.

<FIG> illustrates examples of the solo operation. When a specified time has elapsed from the most recent detection, by the action detector <NUM>, of an action of the certain target on the robot 100a, the operation controller <NUM> causes the robot 100a to perform one of the solo operations illustrated in <FIG>.

Specifically, the operation controller <NUM> causes the robot 100a to perform different solo operations according to the emotion of the robot 100a. Specifically, as illustrated in <FIG>, the robot 100a displays four emotions in terms of two emotion values, namely "calm" and "excite. " These four emotions are "lonely", "motivated", "happy", and "relaxed. " Depending on the action of the certain target in the interaction between the robot 100a and the certain target and other circumstances, the operation controller <NUM> switches between the two emotion values, thereby changing the emotion of the robot 100a.

For example, when the robot 100a is displaying the emotion of "lonely", the operation controller <NUM> causes the robot 100a to perform a solo operation such as "Move to a corner of the room as if searching for something and stare. " When the robot 100a is displaying the emotion of "motivated," the operation controller <NUM> causes the robot 100a to perform a solo operation such as "Move to an end of the room and wander around as if wanting to go outside. " When the robot 100a is displaying the emotion of "happy," the operation controller <NUM> causes the robot 100a to perform a solo operation such as "Sing. " When the robot 100a is displaying the emotion of "relaxed," the operation controller <NUM> causes the robot 100a to perform a solo operation such as "Stare out the window. " The solo operation to be performed is selected randomly from among the plurality of solo operations available for each emotion. Moreover, the solo operations of the robot 100a may include the adornment operations illustrated in <FIG> of Embodiment <NUM>.

While not illustrated in the drawings, the operation controller <NUM> causes the robot 100a to perform solo operations on the basis of the surrounding environment of the robot 100a or the time. The surrounding environment of the robot 100a is information outside of the robot 100a such as the sound level, the temperature, the atmospheric pressure, the brightness, and obstacles. The surrounding environment is detected by the various sensors of the sensor section <NUM>. The time is information such as the current time, the date, and the season. For example, when a predetermined condition related to the environment such as "The robot 100a hears music via the sound sensor 115b" or "The robot 100a hear a conversation between people via the sound sensor 115b" is satisfied, the operation controller <NUM> causes the robot 100a to perform the corresponding solo operation. Moreover, when a predetermined condition related to the time such as "It is time for the robot 100a to go to bed" or "It is New Year's or a birthday or the like" is satisfied, the operation controller <NUM> causes the robot 100a to perform the corresponding solo operation.

The interaction operation and the solo operation are predefined as a part of the operation table <NUM> stored in the storage unit <NUM>. When the condition of the interaction operation or the solo operation is satisfied, the operation setter <NUM> references the operation table <NUM> and sets the interaction operation or the solo operation that the robot 100a will be caused to perform. Then, the operation controller <NUM> causes the robot 100a to perform the interaction operation or the solo operation set by the operation setter <NUM>.

Returning to <FIG>, in a case in which the operation controller <NUM> controls the operator <NUM> to perform a first operation as the adornment operation while the robot 100a is performing the interaction operation, the reaction acquirer <NUM> acquires a reaction of the certain target to the first operation. As described above, when the presence of the certain target is detected and also an action of the certain target on the robot 100a is detected, the operation controller <NUM> causes the robot 100a to perform the interaction operation. Thus, when an adornment is applied to the robot 100a while the robot 100a is performing an interaction operation, the operation controller <NUM> controls the operator <NUM> and causes the robot 100a to perform one of the operations illustrated in <FIG>, for example. When the operation controller <NUM> causes the robot 100a to perform the adornment operation in this manner, the reaction acquirer <NUM> acquires the reaction of the certain target to that operation.

Specifically, at a predetermined time after the operation controller <NUM> has caused the robot 100a to perform the adornment operation, the reaction acquirer <NUM> acquires the reaction of the certain target by detecting speech uttered by the certain target, contact to the robot 100a by the certain target, or a gesture of the certain target. For example, when the certain target utters speech, the reaction acquirer <NUM> detects the speech via the sound sensor 115b. When the certain target contacts the robot 100a, the reaction acquirer <NUM> detects the contact via the contact sensor 115c. When the certain target displays a gesture, the reaction acquirer <NUM> detects the gesture via the imager 115a. Thus, the reaction acquirer <NUM> is realized by cooperation between the controller <NUM> and the various sensors of the sensor section <NUM>. The reaction acquirer <NUM> functions as reaction acquisition means.

The operation controller <NUM> controls the operator <NUM> to perform a second operation according to the reaction acquired by the reaction acquirer <NUM>. The second operation is different from the first operation. The first operation is an operation that is performed in accordance with the adornment applied to the robot 100a. For example, the first operation is one of the operations defined in the operation table <NUM> illustrated in <FIG>. In contrast, the second operation differs from the first operation and is an operation defined in more detail (detailed operation) than the first operation. For example, the second operation is defined as an operation that moves the head <NUM> more or over a longer period of time than the first operation. Alternatively, the second operation may be defined by a more complex combination of the movable parts <NUM>, the display <NUM>, and the speech outputter <NUM> than the first operation. As with the first operation, the operation specified as the second operation may vary depending on the adornment applied to the robot 100a, or may vary depending on the reaction of the certain target.

The second operation is predefined together with the first operation as a part of the operation table <NUM> stored in the storage unit <NUM>, and the operation setter <NUM> sets the second operation by referencing the operation table <NUM>. The second operation may be defined by an operation program stored in an external device such as the charging station <NUM> or the charging station 310a, and the operation setter <NUM> may set the second operation by acquiring the operation program from the external device via wireless communication.

Specifically, when the reaction acquired by the reaction acquirer <NUM> satisfies a certain condition, the operation setter <NUM> sets the second operation as the operation that the robot 100a will be caused to perform. Here, the certain condition is satisfied in cases such as when it is found that the reaction of the certain target to the adornment operation is outside an expected range. For example, in a case in which the reaction acquirer <NUM> detects speech as the reaction of the certain target, the certain condition is satisfied when the loudness of the detected speech is greater than a predefined first threshold. In a case in which the reaction acquirer <NUM> detects contact with the robot 100a as the reaction of the certain target, the certain condition is satisfied when the strength of the detected contact is greater than a predefined second threshold. Alternatively, in a case in which the reaction acquirer <NUM> detects a gesture as the reaction of the certain target, the certain condition is satisfied when the intensity of the detected gesture is greater than a predefined third threshold.

Thus, the certain condition is satisfied in cases in which it is found that the reaction of the certain target to the adornment operation is larger than normal. Appropriate values are preset for the first threshold to the third threshold so that the certain conditions are satisfied when the reaction of the certain target is larger than normal.

When the reaction of the certain target satisfies the certain condition, the operation setter <NUM> sets the second operation, which differs from the adornment operation performed immediately prior, as the operation for the robot 100a to perform. Then, the operation controller <NUM> controls the operator <NUM> to perform the second operation set by the operation setter <NUM>. Thus, the entertainment of the robot 100a can be further enhanced by the robot 100a performing additional operations depending on the reaction of the certain target.

Next, the flow of the processing executed in the robot 100a configured as described above is described while referencing the flowchart illustrated in <FIG>.

The robot control processing illustrated in <FIG> is started when the robot 100a is placed in a normal operable state. The normal operable state is defined by the power supply of the robot 100a being turned ON and the battery <NUM> being charged.

In the robot control processing illustrated in <FIG>, the processing of step S1 to step S5 is the same as the processing of step S1 to step S5 of the robot control processing of Embodiment <NUM> illustrated in <FIG>. Specifically, the controller <NUM> causes the operator <NUM> to execute the normal operation (step S1) and, meanwhile, the controller <NUM> determines whether an adornment is applied to the robot 100a (step S2). When, as a result of the determination, the controller <NUM> determines that an adornment is not applied to the robot 100a (step S2; NO), the controller <NUM> remains at step S1 and continues to cause the operator <NUM> to execute the normal operation. In contrast, when the controller <NUM> determines that an adornment is applied to the robot 100a (step S2; YES), the controller <NUM> acquires the adornment information indicating the adornment applied to the robot 100a (step S3). When the controller <NUM> acquires the adornment information, the controller <NUM> sets the adornment operation corresponding to the adornment applied to the robot 100a (step S4), and causes the robot 100a to perform the set adornment operation (step S5).

When the robot 100a is caused to perform the adornment operation in this manner, the controller <NUM> functions as the presence detector <NUM> and the action detector <NUM> and determines whether the robot 100a is interacting with the certain target (step S6). Specifically, when the presence of the certain target is detected and also an action of the certain target on the robot 100a is detected, the controller <NUM> causes the robot 100a to perform the interaction operation to respond to the action of the certain target. Meanwhile, when the presence of the certain target is detected but an action of the certain target on the robot 100a is not detected, the controller <NUM> causes the robot 100a to perform the solo operation, which is an operation that is independent from the certain target. The controller <NUM> determines that the robot 100a is interacting with the certain target when the robot 100a is performing the interaction operation of the two types of operations, or when the current timing is between the performance of the interaction operation and the performance of a subsequent solo operation.

When, as a result of the determination, the controller <NUM> determines that the robot 100a is not interacting with the certain target (step S6; NO), the controller <NUM> skips the subsequent steps and returns to step S1. In contrast, when it is determined that the robot 100a is interacting with the certain target (step S6; YES), the controller <NUM> functions as the reaction acquirer <NUM> and acquires the reaction of the certain target to the adornment operation performed in step S5 (step S7). Specifically, at a predetermined time immediately after the adornment operation is performed, the controller <NUM> detects speech uttered by the certain target, contact to the robot 100a by the certain target, or a gesture of the certain target.

When the reaction of the certain target is acquired, the controller <NUM> determines whether the acquired reaction is outside the expected range (step S8). Specifically, the controller <NUM> determines whether the loudness of the speech, the strength of the contact, or the intensity of the gesture acquired as the reaction to the adornment operation is larger than a predefined threshold.

When the controller <NUM> determines that the reaction of the certain target is outside the expected range (step S8; YES), the controller <NUM> functions as the operation setter <NUM> and sets the detailed operation (step S9). Specifically, the controller <NUM> sets, as the operation to cause the robot 100a to perform, an operation that differs from the adornment operation that the robot 100a is caused to perform in step S5.

When the controller <NUM> sets the detailed operation, the controller <NUM> functions as the operation controller <NUM> and causes the robot 100a to perform the set detailed operation (step S10). Specifically, the controller <NUM> controls the movable parts <NUM>, the display <NUM>, or the speech outputter <NUM> and causes the robot 100a to perform the detailed operation that corresponds to the reaction of the certain target.

In contrast, when the controller <NUM> determines that the reaction of the certain target is within the expected range (step S8; NO), the controller <NUM> skips the processing of step S9 and step S10 and does not cause the robot 100a to perform the detailed operation.

Thereafter, the controller <NUM> returns to the processing of step S1 and repeats the processing of steps S1 to S10. In other words, each time an adornment is applied to the robot 100a while the robot 100a is performing the normal operation, the controller <NUM> repeats the processing that causes the robot 100a to perform an operation corresponding to that adornment and further perform a more detailed operation corresponding to the reaction of the certain target.

As described above, when the robot 100a according to Embodiment <NUM> performs the adornment operation while interacting with the certain target, the robot 100a performs an operation that corresponds to the reaction of the certain target to that adornment operation, and this operation differs from the adornment operation. Thus, the robot 100a according to Embodiment <NUM> not only performs the operation corresponding to the adornment applied to the robot 100a, but also performs the operation to respond to the reactions of the certain target. As a result, the robot 100a can entertain the user and enhance the entertainment even further.

In Embodiment <NUM>, the adornment operation when the robot 100a is performing an interaction operation and the adornment operation when the robot 100a is performing a solo operation may differ even if the adornment applied to the robot 100a when the robot 100a performs the interaction operation and the adornment applied to the robot 100a when the robot 100a performs the solo operation are same. For example, while the robot 100a is performing the interaction operation, the operation controller <NUM> may cause the robot 100a to perform, as the adornment operation, an operation to which the certain target is more likely to react. Additionally, while the robot 100a is performing the solo operation, the operation controller <NUM> may cause the robot 100a to perform the adornment operation as a part of the solo operation. Thus, the robot 100a is caused to perform, as the adornment operation, an operation that matches the situation, according to whether the robot 100a is performing the interaction operation or the solo operation. As a result, the entertainment of the robot 100a can be further enhanced.

Embodiments of the present disclosure are described above, but these embodiments are merely examples and do not limit the scope of application of the present disclosure. That is, various applications of the embodiments of the present disclosure are possible, and all embodiments are included in the scope of the present disclosure.

For example, in the embodiments described above, the operation setter <NUM> sets the adornment operation on the basis of the operation table <NUM> that is stored, in advance, in the robot <NUM> or the robot 100a. However, in the present disclosure, a configuration is possible in which the operation setter <NUM> acquires, using the functions of the wireless communicator <NUM>, a program in which the adornment operation is defined from an external device. For example, the operation setter <NUM> may wirelessly communicate with the charging station <NUM> or the charging station 310a in response to an adornment being applied to the robot <NUM> or the robot 100a, and acquire, from the charging station <NUM> or the charging station 310a, a program in which the operation corresponding to that adornment is defined. Alternatively, the operation setter <NUM> may communicate with an external server, via an internet or similar broadband network, in response to an adornment being applied to the robot <NUM> or the robot 100a, and acquire, from the external server, a program in which the operation corresponding to that adornment is defined. Moreover, a program in which the operation corresponding to that adornment is defined may be incorporated, in advance, into an IC tag in the adornment. In this case, when the adornment is applied to the robot <NUM> or the robot 100a, the operation setter <NUM> receives a radio signal emitted by the IC tag to acquire the program in which the operation corresponding to that adornment is defined.

The operation controller <NUM> may cause the robot <NUM> or the robot 100a to perform various adornment operations other than the operations illustrated in <FIG>. Furthermore, a configuration is possible in which a plurality of adornment operations are associated with each adornment. In such a case, the operation controller <NUM> selects, from the plurality of adornment operations that correspond to the adornment applied to the robot <NUM> or the robot 100a, an adornment that is executable based on the current charge amount of the battery <NUM>, and causes the robot <NUM> or the robot 100a to perform the selected adornment operation.

In the embodiments described above, the robot <NUM> or the robot 100a includes the determiner <NUM> that determines whether an adornment is applied to the robot <NUM> or the robot 100a. However, in the present disclosure, a configuration is possible in which an external device, separate from the robot <NUM> or the robot 100a, is provided with the functions of the determiner <NUM>. Examples of the external device include the charging station <NUM> or the charging station 310a and the communication terminal <NUM>. In this case, the external device includes a configuration that corresponds to the controller <NUM>, the image recognizer <NUM>, and the like. The external device determines the adornment applied to the robot <NUM> or the robot 100a on the basis of the captured image <NUM> in which the appearance of the robot <NUM> or the robot 100a is captured. In the robot <NUM>, the adornment information acquirer <NUM> acquires, as the adornment information, determination results determined by the external device. The determination results are acquired by communicating with the external device via the wireless communicator <NUM>. Thus, the configuration of the robot <NUM> or the robot 100a can be simplified by providing the external device with the functions of the determiner <NUM>.

In the embodiments described above, the robot <NUM> or the robot 100a is a robot that imitates a human. However, the robot <NUM> or the robot 100a according to the present disclosure is not limited to a shape that imitates a human and may have any shape. For example, the robot <NUM> or the robot 100a according to the present disclosure may be a robot having an appearance that imitates an animal (pet) such as a dog, a cat, a mouse, and a rabbit.

In the embodiments described above, the display <NUM> is provided in the eyes <NUM>, and the imager 115a is provided in the mouth <NUM>. However, in the present disclosure, the display <NUM> may be provided at a location other than the eyes <NUM>, and the imager 115a may be provided at a location (for example, the nose) other than the mouth <NUM>.

In the embodiments described above, in the controller <NUM>, the CPU executes the program stored in the ROM, thereby functioning as the various components illustrated in <FIG>. However, in the present disclosure, the control unit <NUM> may include, for example, an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), various control circuitry, or other dedicated hardware instead of the CPU, and this dedicated hardware may function as the various components illustrated in <FIG>. In this case, the functions of each of the components may be realized by individual pieces of hardware, or the functions of each of the components may be collectively realized by a single piece of hardware. Additionally, the functions of each of the components may be realized in part by dedicated hardware and in part by software or firmware.

It is possible to provide a robot provided in advance with the configurations for realizing the functions according to the present disclosure, but it is also possible to apply a program to cause an existing information processing apparatus or the like to function as the robot according to the present disclosure. That is, a configuration is possible in which a CPU or the like that controls an existing information processing apparatus or the like is used to execute a program for realizing the various functional components of the robot <NUM> or the robot 100a described in the foregoing embodiments, thereby causing the existing information processing apparatus to function as the robot according to the present disclosure.

Any method may be used to apply the program. For example, the program can be applied by storing the program on a non-transitory computer-readable recording medium such as a flexible disc, a compact disc (CD) ROM, a digital versatile disc (DVD) ROM, and a memory card. Furthermore, the program can be superimposed on a carrier wave and applied via a communication medium such as the internet. For example, the program may be posted to and distributed via a bulletin board system (BBS) on a communication network. Moreover, a configuration is possible in which the processing described above is executed by starting the program and, under the control of the operating system (OS), executing the program in the same manner as other applications/programs.

Claim 1:
A robot (<NUM>, 100a), comprising:
operation means (<NUM>) for causing the robot (<NUM>, 100a) to operate;
adornment information acquisition means (<NUM>) for acquiring adornment information indicating an adornment that is applied to the robot (<NUM>, 100a); and
operation control means (<NUM>) for controlling the operation means (<NUM>) to perform an operation corresponding to the adornment information acquired by the adornment information acquisition means (<NUM>),
whereby the robot (<NUM>, 100a) further comprises:
determination means (<NUM>) for determining whether or not the adornment is applied to the robot (<NUM>, 100a), and
action detection means (<NUM>) for detecting an action that is performed with respect to the robot (<NUM>, 100a) by a certain target, wherein
the adornment information acquisition means (<NUM>) is configured to acquire the adornment information when a determination that the adornment is applied to the robot (<NUM>, 100a) is made by the determination means (<NUM>), and
the operation control means (<NUM>) is configured to control the operation means (<NUM>) to perform an interaction operation to respond to the action when the action detection means (<NUM>) detects the action, characterized in that the operation control means (<NUM>) is configured to control the operation means (<NUM>) to perform a spontaneous solo operation when the action detection means (<NUM>) does not detect the action, the solo operation being performed by the robot (<NUM>, 100a) alone independently from the certain target and not involving interaction with the certain target.