Robot, method of robot control, and program recording medium

• US 7,076,331 B1
• Filed: 11/30/1999
• Issued: 07/11/2006
• Est. Priority Date: 11/30/1998
• Status: Expired due to Fees

• Current Assignee: Sony Corporation (Sony Group Corp.)
• Original Assignee: Sony Corporation (Sony Group Corp.)
• Inventors: Nagatsuka, Norio, Inoue, Makoto
• Primary Examiner(s): Black, Thomas G.
• Assistant Examiner(s): Marc, McDieunel
• Application Number:
  US09/701,254
• Time in Patent Office: 2,415 Days
• Field of Search: 700/245, 700/247, 700/259, 700/258, 318/568.12
• US Class Current: 700/245
• CPC Class Codes: A63H 11/00 Self-movable toy figures
• CPC Class Codes: A63H 2200/00 Computerized interactive toys, e.g. dolls
• CPC Class Codes: A63H 30/04 using wireless transmission

Abstract

When information is inputted from the recognition object, the emotion module discriminates the type of the inputted information (step ST1) and changes the emotion level of each emotion unit using the parameter corresponding to the inputted information (step ST2). The emotion module selects the emotion unit having the maximum emotion level from among the emotion units having the emotion levels exceeding the threshold value. The selected emotion unit notifies the object that is requesting the output, for example, the behavior-production object, of that information.

Claims

1. A robot device comprising:

an emotion module in which a plurality of emotion units representing various emotions affect one another to output an emotion;

action means for acting on the basis of the emotion outputted by the emotion module; and

a plurality of objects each being designed by an object-oriented design corresponding to the behaviors of a living body, wherein;

the emotion module outputs an emotion as the plurality of emotion units affect one another on the basis of information from the plurality of objects, and

the plurality of objects affects one another and affects the emotion from the emotion module so as to output the information.

2. The robot device as claimed in claim 1, wherein the emotion units are designed by an object-oriented design.

3. The robot device as claimed in claim 1, wherein the action means includes a plurality of objects each being designed by an object-oriented design corresponding to the means for the behaviors of the living body.

4. The robot device as claimed in claim 1, wherein the emotion module outputs information of an emotion unit having the highest emotion level as the emotion of the plurality of emotion units having affected one another.

5. The robot device as claimed in claim 4, wherein the respective emotion units of the emotion module affect one another with the lapse of time.

6. The robot device as claimed in claim 4, wherein the respective emotion units of the emotion module affect one another on the basis of external information.

7. The robot device as claimed in claim 1, further comprising storage means for storing a plurality of parameters for controlling the state of emotion of each emotion unit,

wherein the emotion module controls the state of emotion of each emotion unit on the basis of each parameter stored in the storage means.

8. The robot device as claimed in claim 1, further comprising transmission/reception means for transmitting an emotion outputted by the emotion module and/or receiving an emotion from outside and for notifying the action means of the emotion.

9. The robot device as claimed in claim 8, wherein the robot device behaves in accordance with the emotion of another robot device received by the transmission/reception means.

10. The robot device as claimed in claim 9, wherein the emotion module changes the state of emotion of the emotion unit in accordance with the emotion of another robot device.

11. The robot device as claimed in claim 1, further comprising an instinct module for outputting an instinct as a plurality of instinct units representing various instincts that change their respective instinct levels,

wherein the emotion module and the instinct module operate independently while affecting the plurality of objects, and

the action means acts on the basis of the output from the emotion module and the instinct module.

12. A control method for a robot device comprising:

an emotion-output step of outputting an emotion as a plurality of emotion units representing various emotions affect one another; and

an action-control step of controlling the action of the robot device on the basis of the emotion outputted at the emotion-output step;

wherein;

at the emotion-output step, the plurality of emotion units affect one another to output an emotion on the basis of information from a plurality of objects each being designed by an object-oriented design corresponding to the behaviors of a living body, and

the plurality of objects affects one another and affects the emotion from the emotion-output step so as to output the information.

13. The control method for a robot device as claimed in claim 12, wherein the emotion units are designed by an object-oriented design.

14. The control method for a robot device as claimed in claim 12, wherein at the emotion-output step, information of an emotion unit having the highest emotion level is outputted as the emotion of the plurality of emotion units having affected one another.

15. The control method for a robot device as claimed in claim 14, wherein at the emotion-output step, the respective emotion units of the emotion module affect one another on the basis of external information.

16. The control method for a robot device as claimed in claim 14, wherein at the emotion-output step, the respective emotion units of the emotion module affect one another with the lapse of time.

17. The control method for a robot device as claimed in claim 12, wherein at the emotion-output step, the state of emotion of each emotion unit is controlled on the basis of a parameter for controlling the state of emotion of each emotion unit.

18. The control method for a robot device as claimed in claim 12, wherein the emotion of another robot device outputted by said another robot device is received and a behaviors corresponding to the emotion of said another robot device is taken.

19. The control method for a robot device as claimed in claim 18, wherein at the emotion-output step, the state of emotion of the emotion unit is changed in response to the emotion of said another robot device.

20. The control method for a robot device as claimed in claim 12, further comprising an instinct output step of outputting an instinct as a plurality of instinct units representing various instincts that change their respective instinct levels,

wherein at the emotion-output step and the instinct output step, the emotion and the instinct are affected by the plurality of objects and are independently outputted, and

at the action-control step, the action of the robot device is controlled on the basis of the emotion and the instinct outputted at the emotion-output step and the instinct output step.

21. A program recording medium having recorded therein a program for carrying out:

an emotion-output step of outputting an emotion as a plurality of emotion units representing various emotions that affect one another; and

an action-control step of controlling the action of the robot device on the basis of the emotion outputted at the emotion-output step, wherein;

at the emotion-output step, the plurality of emotion units affect one another to output an emotion on the basis of information from a plurality of objects each being designed by an object-oriented design corresponding to the behaviors of a living body, and

the plurality of objects affects one another and affects the emotion from the emotion-output step so as to output the information.

22. The program recording medium as claimed in claim 21, wherein the emotion units are designed by an object-oriented design.

23. The program recording medium as claimed in claim 21, wherein at the emotion-output step, information of an emotion unit having the highest emotion level is outputted as the emotion of the plurality of emotion units having affected one another.

24. The program recording medium as claimed in claim 23, wherein at the emotion-output step, the respective emotion units of the emotion module affect one another on the basis of external information.

25. The program recording medium as claimed in claim 23, wherein at the emotion-output step, the respective emotion units of the emotion module affect one another with the lapse of time.

26. The program recording medium as claimed in claim 21, wherein at the emotion-output step, the state of emotion of each emotion unit is controlled on the basis of a parameter for controlling the state of emotion of each emotion unit.

27. The program recording medium as claimed in claim 21, wherein the emotion of another robot device outputted by said another robot device is received and a behavior corresponding to the emotion of said another robot device is taken.

28. The program recording medium as claimed in claim 27, wherein at the emotion-output step, the state of emotion of the emotion unit is changed in response to the emotion of said another robot device.

29. The program recording medium as claimed in claim 21, further comprising an instinct output step of outputting an instinct as a plurality of instinct units representing various instincts that change their respective instinct levels,

wherein at the emotion-output step and the instinct output step, the emotion and the instinct are affected by the plurality of objects and are independently outputted, and

at the action-control step, the action of the robot device is controlled on the basis of the emotion and the instinct outputted at the emotion-output step and the instinct output step.

30. A robot device comprising:

an instinct module in which a plurality of instinct units representing various instincts output individual instincts;

action means for acting on the basis of the instinct outputted by the instinct module; and

a plurality of objects each being designed by an object-oriented design corresponding to the behaviors of a living body, wherein;

the plurality of instinct units of the instinct module output an instinct on the basis of information from the plurality of objects, and

the plurality of objects affects one another and affects the instinct from the instinct module so as to output the information.

31. The robot device as claimed in claim 30, wherein the instinct units are designed by an object-oriented design.

32. The robot device as claimed in claim 30, wherein the action means includes a plurality of objects each being designed by an object-oriented design corresponding to means for the behaviors of the living body.

33. The robot device as claimed in claim 30, wherein the instinct module outputs information of an instinct unit having the highest instinct level as the instinct.

34. The robot device as claimed in claim 33, wherein the instinct module outputs the instinct on the basis of external information.

35. The robot device as claimed in claim 33, wherein the respective instinct units of the instinct module output the instinct with the lapse of time.

36. The robot device as claimed in claim 30, further comprising storage means for storing a plurality of parameters for controlling the state of instinct of each instinct unit,

wherein the instinct module controls the state of instinct of each instinct unit on the basis of each parameter stored in the storage means.

37. The robot device as claimed in claim 30, further comprising transmission/reception means for transmitting an instinct outputted by the instinct module and/or receiving an instinct from outside and for notifying the action means of the instinct.

38. The robot device as claimed in claim 37, wherein the robot device behaves in accordance with the instinct of another robot device received by the transmission/reception means.

39. The robot device as claimed in claim 38, wherein the instinct module changes the state of instinct of the instinct unit in accordance with the instinct of another robot device.

40. The robot device as claimed in claim 30, further comprising an emotion module for outputting an emotion as a plurality of emotion units representing various emotions that change their respective emotion levels,

wherein the instinct module and the emotion module operate independently while affecting the plurality of objects, and

the action means acts on the basis of the output from the instinct module and the emotion module.

41. A control method for a robot device comprising:

an instinct output step of outputting an instinct as a plurality of instinct units representing various instincts that affect one another; and

an action-control step of controlling the action of the robot device on the basis of the instinct outputted at the instinct output step, wherein;

at the instinct output step, the plurality of instinct units output an instinct on the basis of information from a plurality of objects each being designed by an object-oriented design corresponding to the behaviors of a living body, and

the plurality of objects affects one another and affects the instinct from the instinct output step so as to output the information.

42. The control method for a robot device as claimed in claim 41, wherein the instinct units are designed by an object-oriented design.

43. The control method for a robot device as claimed in claim 41, wherein at the instinct output step, information of an instinct unit having the highest instinct level is outputted as the instinct.

44. The control method for a robot device as claimed in claim 43, wherein at the instinct output step, an instinct is outputted on the basis of external information.

45. The control method for a robot device as claimed in claim 43, wherein at the instinct output step, the respective instinct units output an instinct with the lapse of time.

46. The control method for a robot device as claimed in claim 41, wherein at the instinct output step, the state of instinct of each instinct unit is controlled on the basis of a parameter for controlling the state of instinct of each instinct unit.

47. The control method for a robot device as claimed in claim 41, wherein the instinct of another robot device outputted by said another robot device is received and a behavior corresponding to the instinct of said another robot device is taken.

48. The control method for a robot device as claimed in claim 47, wherein at the instinct output step, the state of instinct of the instinct unit is changed in response to the instinct of said another robot device.

49. The control method for a robot device as claimed in claim 41, further comprising an emotion-output step of outputting an emotion as a plurality of emotion units representing various emotions that change their respective emotion levels,

wherein at the instinct output step and the emotion-output step, the instinct and the emotion are affected by the plurality of objects and are independently outputted, and

at the action-control step, the action of the robot device is controlled on the basis of the instinct and the emotion outputted at the instinct output step and the emotion-output step.

50. A program recording medium having recorded therein a program for carrying out:

an instinct output step of outputting an instinct as a plurality of instinct units representing various instincts that affect one another; and

an action-control step of controlling the action of the robot device on the basis of the instinct outputted at the instinct output step, wherein;

at the instinct output step, the plurality of instinct units output an instinct on the basis of information from a plurality of objects each being designed by an object-oriented design corresponding to the behaviors of a living body, and

the plurality of objects affects one another and affects the instinct from the instinct output step so as to output the information.

51. The program recording medium as claimed in claim 50, wherein the instinct units are designed by an object-oriented design.

52. The program recording medium as claimed in claim 50, wherein at the instinct output step, information of an instinct unit having the highest instinct level is outputted as the instinct.

53. The program recording medium as claimed in claim 52, wherein at the instinct output step, an instinct is outputted on the basis of external information.

54. The program recording medium as claimed in claim 52, wherein at the instinct output step, the respective instinct units output an instinct with the lapse of time.

55. The program recording medium as claimed in claim 50, wherein at the instinct output step, the state of instinct of each instinct unit is controlled on the basis of a parameter for controlling the state of instinct of each instinct unit.

56. The program recording medium as claimed in claim 50, wherein the instinct of another robot device outputted by said another robot device is received and a behavior corresponding to the instinct of said another robot device is taken.

57. The program recording medium as claimed in claim 56, wherein at the instinct output step, the state of instinct of the instinct unit is changed in response to the instinct of said another robot device.

58. The program recording medium as claimed in claim 50, further comprising an emotion-output step of outputting an emotion as a plurality of emotion units representing various emotions change their respective emotion levels,

wherein at the instinct output step and the emotion-output step, the instinct and the emotion are affected by the plurality of objects and are independently outputted, and

at the action-control step, the action of the robot device is controlled on the basis of the instinct and the emotion outputted at the instinct output step and the emotion-output step.

59. A robot device comprising:

an emotion module in which a plurality of emotion units representing emotions output individual emotions;

an instinct module in which a plurality of instinct units representing instincts outputs individual instincts;

action means for acting on the basis of the emotion outputted by the emotion module and the instinct outputted by the instinct module; and

a plurality of objects designed by an object-oriented design corresponding to the behaviors of a living body, wherein;

the emotion module outputs an emotion on the basis of information from the plurality of objects,

the instinct module outputs an instinct on the basis of information from the plurality of objects, and

the plurality of objects affects one another and affects the emotion from the emotion module and the instinct from the instinct module so as to output the information.

60. The robot device as claimed in claim 59, wherein the emotion units are affected by an instinct outputted by the instinct module, and

the instinct units are affected by an emotion outputted by the emotion module.

61. The robot device as claimed in claim 60, wherein the action means includes a plurality of objects each being designated by an object-oriented design corresponding to means for the behaviors of a living body.

62. The robot device as claimed in claim 59, wherein the plurality of emotion units affects one another to output an emotion.

63. The robot device as claimed in claim 59, wherein the emotion units and the instinct units are designated by an object-oriented design.

64. The robot device as claimed in claim 59, wherein the emotion module outputs information of an emotion unit having a high emotion level as the emotion, and

the instinct module outputs information of an instinct unit having a high instinct level as the instinct.

65. A control method for a robot device comprising:

an emotion-output step of outputting individual emotions by a plurality of emotion units representing emotions;

an instinct output step of outputting individual instincts by a plurality of instinct units representing instincts; and

an action-control step of controlling the action of the robot device on the basis of the emotion outputted at the emotion-output step and the instinct outputted at the instinct output step, wherein;

at the emotion-output step, an emotion is outputted on the basis of information from a plurality of objects each being designated by an object-oriented design corresponding to the behaviors of a living body,

at the instinct output step, an instinct is outputted on the basis of information from a plurality of objects each being designated by an object-oriented design corresponding to the behaviors of a living body, and

the plurality of objects affects one another and affects the emotion from the emotion module and the instinct from the instinct module so as to output the information.

66. The control method for a robot device as claimed in claim 65, wherein the emotion units are affected by an instinct outputted at the instinct output step, and

the instinct units are affected by an emotion outputted at the emotion-output step.

67. The control method for a robot device as claimed in claim 65, wherein the plurality of emotion units affects one another to output an emotion.

68. The control method for a robot device as claimed in claim 65, wherein the emotion units and the instinct units are designated by an object-oriented design.

69. The control method for a robot device as claimed in claim 65, wherein at the emotion-output step, information of an emotion unit having a high emotion level is outputted as the emotion, and

at the instinct output step, information of an instinct unit having a high instinct level is outputted as the instinct.

70. A program recording medium having recorded therein a program for carrying out:

an emotion-output step of outputting individual emotions by a plurality of emotion units representing emotions;

an instinct output step of outputting individual instincts by a plurality of instinct units representing instincts; and

an action-control step of controlling the action of the robot device on the basis of the emotion outputted at the emotion-output step and the instinct outputted at the instinct output step, wherein;

the emotion units are affected by an instinct outputted at the instinct output step,

the instinct units are affected by an emotion outputted at the emotion-output step,

at the emotion-output step, an emotion is outputted on the basis of information from a plurality of objects each being designated by an object-oriented design corresponding to the behaviors of a living body, and

at the instinct output step, an instinct is outputted on the basis of information from a plurality of objects each being designated by an object-oriented design corresponding to the behaviors of a living body,

the plurality of objects affecting one another and affecting the emotion from the emotion module and the instinct from the instinct module so as to output the information.

71. The program recording medium as claimed in claim 70, wherein the plurality of emotion units affects one another to output an emotion.

72. The program recording medium as claimed in claim 70, wherein the emotion units and the instinct units are designated by an object-oriented design.

73. The program recording medium as claimed in claim 70, wherein at the emotion-output step, information of an emotion unit having a high emotion level is outputted as the emotion, and

at the instinct output step, information of an instinct unit having a high instinct level is outputted as the instinct.

74. A robot device comprising:

detection means for detecting a stimulus applied from outside;

storage means for storing the record of information related to the stimulus;

response processing decision means for deciding response processing on the basis of the stimulus detected by the detection means; and

response execution means for executing the response processing decided by the response processing decision means;

wherein the response processing decision means decides the response processing on the basis of the record information stored in the storage means,

wherein the response processing decision means is an emotion module for deciding an emotion in response to an emotion level, which is the record information, changing in response to the stimulus due to an emotion, and

the response execution means takes a behavior and/or an action for expressing the emotion decided by the emotion module.

75. A robot device comprising:

detection means for detecting a stimulus applied from outside;

storage means for storing the record of information related to the stimulus;

response processing decision means for deciding response processing on the basis of the stimulus detected by the detection means; and

response execution means for executing the response processing decided by the response processing decision means;

wherein the response processing decision means decides the response processing on the basis of the record information stored in the storage means,

wherein the response processing decision means is an instinct module for deciding an instinct in response to an instinct level, which is the record information, changing in response to the stimulus due to an instinct, and

the response execution means takes a behavior and/or an action for expressing the instinct decided by the instinct module.

76. A control method for robot device comprising:

a detection step of detecting a stimulus applied to the robot device from outside;

a response processing decision step of deciding response processing of the robot device on the basis of the stimulus detected at the detection step;

a response execution step of causing the robot device to execute the response processing decided at the response processing decision step; and

wherein at the response processing decision step, the response processing is decided on the basis of the record information stored in storage means,

wherein the response processing decision means is an emotion module for deciding an emotion in response to an emotion level, which is the record information, changing in response to the stimulus due to an emotion, and

the response execution means causes the robot device to take a behavior and/or an action for expressing the emotion decided by the emotion module.

77. A control method for robot device comprising:

a detection step of detecting a stimulus applied to the robot device from outside;

a response processing decision step of deciding response processing of the robot device on the basis of the stimulus detected at the detection step;

a response execution step of causing the robot device to execute the response processing decided at the response processing decision step; and

wherein at the response processing decision step, the response processing is decided on the basis of the record information stored in storage means,

wherein the response processing decision means is an instinct module for deciding an instinct in response to an instinct level, which is the record information, changing in response to the stimulus due to an instinct, and

the response execution means causes the robot device to take a behavior and/or an action for expressing the instinct decided by the instinct module.

78. A program recording medium having recorded therein a program for carrying out:

a detection step of detecting a stimulus applied to a robot device from outside;

a response processing decision step of deciding the response processing of the robot device on the basis of the stimulus detected at the detection step; and

a response execution step of causing the robot device to execute the response processing decided at the response processing decision step;

wherein at the response processing decision step, the response processing is decided on the basis of the record information stored in storage means,

wherein the response processing decision means is an emotion module for deciding an emotion in response to an emotion level, which is the record information, changing in response to the stimulus due to an emotion, and

the response execution means causes the robot device to take a behavior and/or an action for expressing the emotion decided by the emotion module.

79. A program recording medium having recorded therein a program for carrying out:

a detection step of detecting a stimulus applied to a robot device from outside;

a response processing decision step of deciding the response processing of the robot device on the basis of the stimulus detected at the detection step; and

a response execution step of causing the robot device to execute the response processing decided at the response processing decision step;

wherein at the response processing decision step, the response processing is decided on the basis of the record information stored in storage means,

wherein the response processing decision means is an instinct module for deciding an instinct in response to an instinct level, which is the record information, changing in response to the stimulus due to an instinct, and

the response execution means causes the robot device to take a behavior and/or an action for expressing the instinct decided by the instinct module.

80. A robot device having a multi-joint driving unit, comprising:

means for holding a recognition object constructed by an object-oriented design, the recognition object being adapted to recognize input information and notify of a result of recognition;

means for holding an emotion model object constructed by an object-oriented design, the emotion model object having the result of recognition of the recognition object inputted thereto and being adapted to change an emotion level in accordance with the input information; and

means for holding an action generation object constricted by an object-oriented design, the action generation object being adapted to cause the robot device to act by controlling the multi-joint driving unit on the basis of information from the emotion model object.

81. A robot device having a multi-joint driving unit, comprising:

means for holding a recognition object constricted by an object-oriented design, the recognition object being adapted to recognize an internal state and notify of a result of recognition;

means for holding an instinct model object constructed by an object-oriented design, the instinct model object having the result of recognition of the recognition objectinputted thereto and being adapted to change an instinct level in accordance with the input information; and

means for holding an action generation object constructed by an object-oriented design, the action generation object being adapted to cause the robot device to act by controlling the multi-joint driving unit on the basis of information from the instinct model object.

82. An action control method for a robot device having a multi-joint driving unit, the method comprising:

a step of notifying an emotion model object constructed by an object-oriented design, of a result of recognition from a recognition object constructed by an object oriented design and adapted to recognize input information;

a step of changing an emotion level in accordance with the information of the result of recognition of the recognition object inputted to the emotion model object; and

a step of causing the robot device to act by controlling the multi-joint driving unit by an action generation object constructed by an object-oriented design on the basis of information from the emotion model object.

83. An action control method for a robot device having a multi-joint driving unit, the method comprising:

a step of notifying an instinct model object constructed by an object-oriented design, of a result of recognition from a recognition object constructed by an object oriented design and adapted to recognize an internal state;

a step of changing an instinct level in accordance with the information of the result of recognition of the recognition object inputted to the instinct model object; and

a step of causing the robot device to act by controlling the multi-joint driving unit by an action generation object constructed by an object-oriented design on the basis of information from the instinct model object.

84. A recording medium in which a program for controlling an action of a robot device having a multi-joint driving unit is recorded, the program being adapted, for executing:

a step of notifying an emotion model object constructed by an object-oriented design, of a result of recognition from a recognition object constructed by an object oriented design and adapted to recognize input information;

a step of changing an emotion level in accordance with the information of the result of recognition of the recognition object inputted to the emotion model object; and

a step of causing the robot device to act by controlling the multi-joint driving unit by an action generation object constructed by an object-oriented design on the basis of information from the emotion model object.

85. A recording medium in which a program for controlling an action of a robot device having a multi-joint driving unit is recorded, the program being adapted to execute:

a step of notifying an instinct model object constructed by an object-oriented design, of a result of recognition from a recognition object constructed by an object oriented design and adapted to recognize an internal state;

a step of changing an instinct level in accordance with the information of the result of recognition of the recognition object inputted to the instinct model object; and

a step of causing the robot device to act by controlling the multi-joint driving unit by an action generation object constructed by an object-oriented design on the basis of information from the instinct model object.

86. A robot device having a multi-joint driving unit, comprising:

external state detection means for detecting an external state;

an emotion module having a value changing on the basis of the detected external state;

action generation control means for controlling the multi-joint driving unit on the basis of the value of the emotion module; and

communication means for receiving a value of an emotion module of another robot device;

wherein the value of the emotion module of the robot device changes on the basis of the value of the emotion module of said another robot device received by the communication means.

87. A robot device having a multi-joint driving unit, comprising:

external state detection means for detecting an external state;

an emotion module having a value changing on the basis of the detected external state;

action generation control means for controlling the multi-joint driving unit on the basis of the value of the emotion module; and

communication means for receiving a value of an emotion module of another robot device;

wherein the action generation control means generates a predetermined action on the basis of the value of the emotion module of said another robot device received by the communication means.

88. An action control method for a robot device for controlling an action of a robot device having a multi-joint driving unit, the method comprising:

an external state detection step of detecting an external state;

a value change step of changing a value of an emotion module on the basis of the detected external state;

an action generation control step of controlling the multi-joint driving unit on the basis of the changed value of the emotion module; and

a reception step of receiving a value of an emotion module of another robot device by communication means;

wherein the value of the emotion module of the robot device changes on the basis of the value of the emotion module of said another robot device received by the communication means.

89. An action control method for a robot device for controlling an action of a robot device having a multi-joint driving unit, the method comprising:

an external state detection step of detecting an external state;

a value change step of changing a value of an emotion module on the basis of the detected external state;

an action generation control step of controlling the multi-joint driving unit on the basis of the changed value of the emotion module; and

a reception step of receiving a value of an emotion module of another robot device;

wherein at the action generation control step, a predetermined action is generated on the basis of the value of the emotion module of said another robot device received by the communication means.

90. A recording medium in which a program for controlling an action of a robot device having a multi-joint driving unit is recorded, the program comprising:

an external state detection step of detecting an external state of the robot device;

a value change step of changing a value of an emotion module of the robot device on the basis of the detected external state;

an action generation control step of controlling the multi-joint driving unit on the basis of the changed value of the emotion module; and

a reception step of receiving a value of an emotion module of another robot device by communication means;

wherein the program controls the value of the emotion module of the robot device so that the value changes on the basis of the value of the emotion module of said another robot device received by the communication means.

91. A recording medium in which a program for controlling an action of a robot device having a multi-joint driving unit is recorded, the program comprising:

an external state detection step of detecting an external state of the robot device;

a value change step of changing a value of an emotion module of the robot device on the basis of the detected external state;

an action generation control step of controlling the multi-joint driving unit on the basis of the changed value of the emotion module; and

a reception step of receiving a value of an emotion module of another robot device;

wherein the program controls so that at the action;

generation control step, a predetermined action is generated on the basis of the value of the emotion module of said another robot device received by the communication means.

92. A robot having a plurality of movable parts, comprising:

means for holding a recognition object that is designed by an object-oriented design to process input information and notify of the recognition result of the processing of the input information;

means for holding an emotion module object which is designed by an object-oriented design and whose emotion level is changed in accordance with the recognition result which is inputted from the recognition object, and the emotion module object notify of the emotion level; and

means for holding a behavior object which is designed by an object-oriented design to make a behavior of the robot based on the emotion level notified from the emotion module object,

wherein control means for controlling the moveable parts to make the robot perform the behavior that is made by the behavior object.

93. A robot having a plurality of movable parts, comprising:

means for holding a recognition object that is designed by an object-oriented design to process input information and notify of the recognition result of the processing of the input information;

means for holding an instinct module object which is designed by an object-oriented design and whose instinct level is changed in accordance with the recognition result which is inputted from the recognition object, and the instinct module object notify of the instinct level; and

means for holding a behavior object that is designed by an object-oriented design to make a behavior of the robot based on the instinct level notified from the instinct module object,

wherein control means for controlling the moveable parts to make the robot perform the behavior that is made by the behavior object.