To provide a communication robot which can rotate not only its eyeballs but also its neck (head) at the time of shifting sight line, can very naturally shift the sight line when its intention is transmitted based on the performance of the sight line, and can positively express the intention of the robot.
The communication robot 10 has the head 64 mounted thereon via the neck that is rotatable about a predetermined shaft, e.g. a vertical shaft (S shaft), and the head has the eyeballs 48 arranged thereon, that are also rotatable about respective vertical shafts. When the sight line of the robot is shifted to an attention objective person, a CPU of the robot sets a contribution (A1) of the neck with respect to the shift of the sight line by the eyeballs, and controls the neck and the eyeballs, based on a joint angle θ of the neck and the joint angle α of the eyeballs, that are calculated based on the contribution.
SHINOSAWA KAZUHIKO
MITSUNAGA NORIAKI
MIYASHITA KEIKO
ISHIGURO HIROSHI
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