| 摘要 |
PROBLEM TO BE SOLVED: To accurately estimate a person's object of attention.SOLUTION: A robot (10) retains an inverse model 154 in which there are described, as behavior of a person: the person's objects of attention (a long-term object of attention CA, a short-term object of attention TA, and a target destination D), and the person's position (P(t)); and ideal movements of a head direction (&thetas;h) and a body direction (&thetas;b) corresponding to the objects of attention. The robot acquires an observed value from observation means (12a, 12b, and 14) that observe a position, a head direction, and a body direction of a person, and estimate the objects of attention (CA, TA, and D) on the basis of a comparison between a shift of the observed value and the inverse model 154 (S11). |
