KR20100070773A - Personality transition apparatus and method, and behavior diversification apparatus and method using that, and its robot system - Google Patents

Abstract

The present invention relates to a personality change device and its method, a behavior diversification device and method using the same, and a robot system thereof, wherein a character (personality character) according to the personality of the robot is defined in advance, and the definition Personality change device and method and method for creating (determining) robot behavior probabilistically by creating a robot's situational action script according to the personalized character, and changing the personality variable by changing the personality of the robot An apparatus for diversifying behavior, a method thereof, and a robot system are provided.

To this end, the present invention provides a robot system, comprising: personality changing means for changing a personality profile of a robot according to input information; And behavior diversification means for performing various behaviors by selecting an action script using the personality profile from the personality change means.

Description

Personality change device and its method, behavior diversification device using the same, and its robot, and the robot system {PERSONALITY TRANSITION APPARATUS AND METHOD, AND BEHAVIOR DIVERSIFICATION APPARATUS AND METHOD USING THAT, AND ITS ROBOT SYSTEM}

The present invention relates to a personality change device and its method, a behavior diversification device and method using the same, and a robot system. More specifically, a character (personality character) according to the personality of the robot and its characteristics is defined in advance. And a personality change device and method for probabilistically selecting (determining) robot behavior by creating a situational action script of the robot according to the defined personality character, and changing the personality variable by changing the personality of the robot. And a behavior diversification apparatus using the same, a method thereof, and a robot system thereof.

In the following embodiment, the present invention will be described by taking a robot as an example, but the present invention is not necessarily limited to the robot.

In order to develop a robot similar to a human, technology development has focused on the robot's appearance design and the movement of the arms and legs. However, human-like robots need not only a certain interface or a certain part of the movement to be similar to human, but the ability to show various behaviors like humans and change their own behavior.

If the robot's behavior is uniform and simple in the service robot, the intimacy between the robot providing the service and the user who uses the robot is inferior, and the user tends to lose interest easily. Therefore, various methods for expressing various interactions or interactions between the personal robot and the user have been proposed.

Among them, the methods using the emotions of the robots are mainly used to express the behavioral diversity of the robots. These methods of using robot emotion are techniques for defining the emotion of a robot in advance, estimating user emotion using a sensor, etc., and generating robot emotion based on the estimated user emotion to express it through robot behavior.

For example, the Japanese "Aibo robot" is a robot that adopts a dog's behavior pattern and applies it to a behavioral expression, and mainly uses emotional elements (joy, sadness, severance, etc.) in response to user's behavior.

In addition, another example of the prior art made in terms of action generation is "apparatus for generating an action in an object" of the Republic of Korea Patent Publication No. 10-2005-116156 (published Dec. 09, 2005) invented by "Balindaniel" etc. And methods ". This prior art is to assist inexperienced users in creating and modifying the behavior or body language of a robot or software agent. This prior art is not an autonomous behavior system in that the robot system does not directly make various behaviors.

In addition, Korean Patent No. 10-831566, invented by Lee Woo-young, et al., "NetToy Emotional Expression Setting Method and NetToy Service System and Its Method", sets the emotion expression to determine the contents corresponding to the emotion according to the situation. As a description of the method, the object is the autonomous behavior generation system of the robot. However, this prior art does not change the nature of the robot itself.

In addition, the technology disclosed in Korean Patent Publication No. 10-2008-99883 (published on November 14, 2008) by Park Kyu-Ho et al. "Character Change Model by Character and Character Modeling System Using the Method" has various emotions according to personality. It's a technology that has changed. However, this prior art is a description of the emotional state itself that changes according to the personality, and does not change the personality of the robot itself.

As described above, in the prior art, the estimation of user emotion through a sensor such as a camera or a microphone uses video and voice, and it is difficult to estimate satisfactory user emotion in the estimation result due to the limitation of the image and voice recognition technology. There is this. In addition, since emotion generation and behavior expression of the robot generate only the robot emotion for each situation, there is a drawback that there is a limit in the expression of the behavior because the same behavior is repeatedly performed temporarily.

In other words, the conventional robot behavior generation method can express accurate behavior repeatedly, but it is only possible to repeat and simple robot behavior since it depends only on the emotions estimated from the external sensor, and it can not change the personality of the robot itself. There is a disadvantage that can not implement a variety of robot behavior.

Therefore, the prior art may be limitedly applied only to a system (robot) that has low accuracy and expresses a decision based on emotion, and may not be applied to a system (robot) that requires various actions.

As such, it is apparent that the prior art has technical limitations in determining the situation and determining the behavior with reasoning ability similar to the level of understanding of the person. Clear contextual understanding and action decisions therefore require the use of human experience.

In addition, one expects to show different behaviors and tends to grasp the characteristics in the behavior of the subject. Therefore, the robot's actions must be able to develop differently for the same stimulus. While these robots exhibit a variety of behaviors, they have the requirement that the presented behaviors be consistent under certain characteristics.

Therefore, there is an urgent need for a robot behavior operation technique that provides one or more behaviors rationally and modifies the behavior pattern itself according to the situation.

As described above, the prior art as described above has a limitation in expressing a behavior because it is difficult to estimate user's emotion according to a sensor input, and repeatedly and uniformly expresses the same behavior, thereby causing users to easily feel bored. It is an object of the present invention to solve this problem and to meet the above requirements.

Therefore, the present invention creates a behavioral script for each situation according to a personality character and grows a personality variable to express various behaviors for the same environment or stimulus, so that the personality change device and its behavior can be expressed. A method, a device for diversifying behavior using the same, a method thereof, and a robot system thereof are provided.

That is, the present invention defines the character of the robot and the character (personality character) according to the character in advance, prepares the robot's situational action script according to the defined personality character, and changes the personality variable of the robot by varying the personality variable. It is an object of the present invention to provide a personality change device and its method, a behavior diversification device and method using the same, and a robot system for probabilistic selection (determination) of robot behavior.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention which are not mentioned above can be understood by the following description, and will be more clearly understood by the embodiments of the present invention. Also, it will be readily appreciated that the objects and advantages of the present invention may be realized by the means and combinations thereof indicated in the claims.

The system of the present invention for achieving the above object, the robot system, personality changing means for changing the personality profile of the robot according to the input information; And behavior diversification means for performing various behaviors by selecting an action script using the personality profile from the personality change means.

On the other hand, the apparatus of the present invention for achieving the above object, in the personality change device, initial personality setting means for setting the initial personality vector; Personality profile storage means for storing an initial personality vector set by said initial personality setting means; Initial substrate setting means for establishing an initial substrate; Substrate vector generating means for generating a substrate vector according to the initial substrate and time information set in said initial substrate setting means; Means for generating a personality change vector for generating a personality change vector; And a personality vector for generating a personality vector (personality profile) by adding the personality change vector generated by the substrate vector generating means, the personality change vector generated by the personality change vector generating means, and the previous personality vector to update the personality profile storage means. Calculating means.

In addition, another apparatus of the present invention for achieving the above object is a behavior diversification apparatus, comprising: behavior script storage means for storing the behavior script; Behavior condition setting means for setting a behavior condition; Behavior script candidate extraction means for extracting a behavior script candidate from the behavior script storage means in accordance with the behavior condition set in the behavior condition setting means; Behavior script selection means for selecting an behavior script to be performed from the behavior script candidates extracted by the behavior script candidate extraction means; And action performing means for performing an action according to the action script selected by said action script selecting means.

On the other hand, the method of the present invention for achieving the above object, in the personality change method, the initial vector setting step of setting the initial substrate vector and the initial personality vector; A vector generation step of generating a personality change vector and a substrate vector according to the input information; Generating a new personality vector (personality profile) by combining the generated substrate vector, the generated personality change vector, and the previous personality vector; And updating the previous personality vector using the newly generated personality vector.

In addition, another method of the present invention for achieving the above object, in the behavior diversification method, storing the behavior script; An action condition setting step of setting an action condition; Extracting an action script candidate from the stored action scripts according to the set action condition; An action script selection step of selecting an action script to be performed from the extracted action script candidates; And performing an action according to the selected action script.

The present invention as described above, the character of the robot and the character (personality character) according to the character in advance, create a situational action script of the robot according to the defined personality character, and by varying the personality of the robot personality By varying the variables probabilisticly selecting (determining) robot behaviors, it is possible to express behaviors interactive with the user.

That is, the present invention can increase the sympathy and interest with the user by allowing the robot to have a variety of personalities.

In other words, the present invention can be expressed under a consistent characteristic that various behavioral expressions of the robot are personality, and since the value of the personality changes with time and events, the user can see the effect of making the robot have a personality. This allows users to see higher utilization effects than existing robots with the same function.

In addition, the present invention can secure a variety of robot behavior only by adding a software module without modifying the hardware system inside the existing robot.

In addition, the present invention can be applied centering around the recently developed personal robot, it is possible to use in more various service domains. Through the present invention, the robot has a lively feeling, and the user can increase the intimacy with the robot.

The above objects, features, and advantages will become more apparent from the following detailed description with reference to the accompanying drawings, and accordingly, those skilled in the art to which the present invention pertains may have the technical idea of the present invention. It will be easy to implement. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

First, in order to help the understanding of the present invention, the technical gist of the present invention will be briefly described as follows.

According to the present invention, the robot character is set up according to two characteristics of extroversion-introversion and agreeableness. Action script of a situational robot according to sensing information from a sensor and time flow information from an internal timer is created.

The robotic system has a personality profile (extroversion, intimacy values between -1 and 1) that uses the personality profile to probabilistically select behavioral scripts for the situation.

In addition, the personality profile is gradually changed to a specific personality value according to user input information, sensing information from various sensors, and time flow information from an internal timer, thereby allowing the robot to show another behavior pattern.

The present invention enables the robot to perform interactive actions on user input information and recognition information (environmental environment information) through the combination of the action script and the personality profile, and the robot also exhibits various actions for the same stimulus. It can be used to express behavior consistently under certain characteristics.

1 is a configuration diagram of an embodiment of a personality change device, a behavior diversification device using the same, and the robot system according to the present invention.

As shown in FIG. 1, the robot system according to the present invention has a personality change device 110 for consistently changing a personality (personality profile) of a robot under a specific property according to various input information, and the personality change device 110. A behavior diversification device 120 for selecting a behavior script using the personality profile from) to perform various behaviors.

Next, the detailed components of the personality change device 110 and the behavior diversification device 120 will be described in detail.

First, the personality change device 110 according to the present invention stores an initial personality vector set by the initial personality setting unit 112 and the initial personality setting unit 112 to set an initial personality vector according to a user's personality character designation. Personality profile storage unit 116 for generating, initial substrate setting unit 111 for initially setting the random substrate randomly, generating an initial substrate vector according to the initial substrate set in the initial substrate setting unit 111 And generate a personality change vector according to various input information such as a substrate vector generator 113 for generating a substrate vector by changing a previous substrate vector according to time flow information from an internal timer, user input information, and sensing information. The personality change vector generator 114 and the substrate vector generated by the substrate vector generator 113 and the personality change vector generated by the personality change vector generator 114 The personality vector calculator 115 may be configured to update the personality profile storage unit 116 by generating a new personality vector (personality profile) by adding the previous personality vector to the vector.

An operation method and a specific embodiment of the personality change device 110 will be described later with reference to FIG. 4.

In addition, the behavior diversification apparatus 120 according to the present invention may include a behavior script database 121 that stores a behavior script including a response behavior that the robot takes with respect to input information, user input information, sensing information, and time flow information. Robot behavior condition setting unit 122 for setting the robot behavior condition by receiving various input information such as the behavior script from the behavior script database 121 according to the robot behavior condition set in the robot behavior condition setting unit 122. Behavior script candidate extraction unit 123 for extracting a candidate group, behavior script candidates extracted from the behavior script candidate extraction unit 123, behavior script evaluation values (values stored in the behavior script database) and the personality profile storage unit. According to the evaluation results above, after evaluating using the personality profile of 116, An action script selecting unit 124 for selecting (determining) an action script to be performed, and an action performing module 125 for performing an action according to the action script selected (determined) by the action script selecting unit 124. do.

Next, the operation method and specific embodiments of the personality change device 110 and the behavior diversification device 120 will be described in detail with reference to FIGS. 2 to 4.

2 is a flowchart illustrating a method for diversifying behavior using personality changes according to an embodiment of the present invention, in which a personal service robot selects a behavior script using a personality profile to perform various actions. .

First, a personal service robot (robot system) generates noise (sound) through user input information such as content execution input from a user, sensing information recognized by specific sensors for sensing the surrounding environment, and time flow information from an internal timer. ), Various types of information such as touch (tactile), light (depressed), shaking (tilting), heat, movement, and time are input (201).

Thereafter, the personal service robot determines whether the various input information is valid information for generating robot behavior (202). That is, the personal service robot organizes the various input information into specific conditions and checks whether the corresponding condition exists in the behavior script database 121, thereby confirming whether the input information is valid information for generating robot behavior. Here, the specific condition searched by the robot is as shown in the first column of FIG. 10, which is an example of the behavior script database 121. At this time, the action script database 121 can be easily created by a user or a designer as shown in FIG. 10, the contents of which are reaction actions that the robot takes on input information. This reaction behavior is shown in the fourth column of FIG. In the example of FIG. 10, arrows indicate the order of actions, and commas indicate movement relationships that are performed simultaneously. And expressions such as "embarrassed" and "thank you" belong to the names of actual robot movements (e.g., turning two times left, nodding, etc.).

Thereafter, the personal service robot extracts the behavior script candidate group from the behavior script database 121 (203). At this time, the personal service robot extracts the action scripts matching the corresponding condition from the action script database 121 and secures the action script candidate group.

Thereafter, the personal service robot evaluates the extracted behavior script candidates using the behavior script evaluation value and the personality profile (204). The behavior script evaluation process 204 will be described later with reference to FIG. 3.

Thereafter, the personal service robot selects (determines) an action script to be executed according to the evaluation result (205).

The personal service robot then instructs the action performing module to act according to the selected (determined) action script (206).

FIG. 3 is an exemplary view for explaining the behavior script evaluation process of FIG. 2, and shows an example of weight equations and respective values set for selecting the behavior script.

In the present invention, the personality profile of the robot is a value representing extroversion and intimacy, consisting of a real pair between -1 and 1, the first term representing extroversion, and the second term representing intimacy (intimacy) (303). . The personality profile is stored and maintained in the personality profile storage unit 116, and is consistently changed and updated under specific characteristics according to various input information.

The outlook and intimacy of each response behavior is evaluated and stored in the behavior script database 121 as the behavior script evaluation value 302.

As shown in FIG. 3, the personal service robot calculates weights of the behavior script candidates based on the behavior script evaluation value and the personality profile, respectively (301). In this case, the higher the weight value among the behavior script candidates, the higher the probability that the behavior script is executed, and each probability is a value obtained by dividing the weight by the sum of the total weights.

Based on the calculated distribution of probabilities, the action script to be performed is selected (determined).

4 is a flowchart illustrating an embodiment of a personality change method according to the present invention.

First, an initial substrate vector is initially set randomly by the robotic system (401).

In operation 402, an initial personality vector is set according to a user's personality character designation.

In order to grasp the user's behavior and speech information, noise (sound) is input through user input information such as content execution input from the user, and sensing information recognized by specific sensors (see FIG. 9) for sensing the surrounding environment. ), Various types of information such as touch (tactile), light (depressed), shaking (tilting), heat, motion (visual), and RFID are input (403).

In operation 404, time information is received through time flow information (log file data) from an internal timer.

Thereafter, the personality change table (refer to FIG. 8) is searched using the received various types of information to determine whether the various input information is valid input information for personality change (405). That is, the various input information is analyzed and the personality change table (refer to FIG. 8) is searched to determine whether the personality vector is likely to change. In other words, based on the information that can be known using the input information from the user and the sensor and the log file data, it is determined whether the current situation is capable of changing the personality of the robot.

At this time, it is determined whether the various input information is a positive action (+) to enhance the current personality vector (extroversion, intimacy) or a negative action (-) to suppress the current personality vector (extroversion, intimacy) (Fig. 5th, 6th column of 8). Here, the blank of the fifth and sixth columns of FIG. 8 means an action that does not affect the personality vector, "+" means an action to enhance extroversion or intimacy, and "-" is extroversion Or actions that reduce and inhibit intimacy.

As a result of the confirmation 405, if the input information is not valid for the personality change, the process proceeds to the process of directly storing the personality vector (personality profile). Generate a vector (406).

In this case, the personality change vector adjusts the size and direction of the personality vector (personality profile) previously stored, and the size change of the personality vector adds 0.005 to the existing extroversion or intimacy vector, for example, In case of "-", 0.005 is subtracted from existing extroversion or intimacy vector. The substrate vector is initially generated according to the substrate vector amount randomly set by the robotic system, and is changed by 0.001 per hour, for example.

Thereafter, a new personality vector (personality profile) is generated from the vector sum of the previous personality vector, the generated personality change vector, and the substrate vector (407).

Thereafter, the old personality profile is updated and stored with the generated new personality vector (personality profile) (408).

Next, the personality change method of FIG. 4 will be described in more detail with reference to FIGS. 5 to 9.

5 is an exemplary view for explaining the process of generating a new personality vector of FIG. 4, FIG. 6 is an exemplary view for explaining the personality changing method of FIG. 4, and FIG. 7 is a personality profile changing according to the present invention. Figure 8 is an example of a situation, Figure 8 is an illustration of a personality change table that summarizes the causes of the event that changes the personality profile according to the present invention, Figure 9 is a personal robot for expressing various behaviors according to the present invention; One exemplary view showing each sensor position.

As described above, since the personality profile value is a real pair consisting of outward and intimate values, it can be viewed as a vector value as shown in FIG. These personality profile values can be changed in a total of three ways as shown in FIG.

The first method depends on the substrate. Here, the temperament refers to the tendency to change to a specific personality form regardless of the robot's behavior and human response. This substrate is the amount of change that changes over time. As shown in FIG. 6, initial substrates are initially set randomly by the robotic system (602) and these substrates change over time to form substrate vectors (603), whereby the substrate vectors thus formed are personality vectors. (601, personality profile value) is applied to change the personality vector (604).

The second method allows the user to initially change the personality vector by directly assigning the personality character to one of bewitching, troublesome, grumpy, and timid (605). That is, when the user directly designates the personality character, the position of the personality vector is changed to any one of the four points of the beloved, the troubled, the grumpy, and the timid.

Here, the lovable is friendly to the person, cute, and actively expresses his actions. And troublemakers don't listen to people, and they're uncooperative and behave themselves. And the grumpy doesn't respond much to the surrounding reactions, but rather sluggish and slow in action. And timids follow man's instructions, are gentle, and act little.

The third method may change the personality vector by evaluating the robot system about the user's input information and the words and actions of the person recognized (sensed) through various sensors shown in FIG. 9. For example, if you are shaken for a long time, the character of the robot will become less familiar. As shown in FIG. 6, the words and actions 606 of a person form a personality change vector 607, the value of which is determined by the personality change table 608. Here, an example of the personality change table 608 is as shown in FIG. 8.

Here, the first column of the personality change table shown in FIG. 8 is a log type field, which is a field for classifying record information. For example, log types include sensors and time.

The second column of the personality change table is a subtype field and is a field indicating a detailed sensor and log name of specific information. For example, subtypes include tilt, sound, light, heat, tactile, visual, battery, and RFID.

The third column of the personality change table is a personality changeable behavior field, and is a field indicating the context content input from the sensor. For example, possible personality changes include shaking, falling, loud human noise, quiet, in a dark place, feeling body temperature, feeling a touch, feeling no touch, capturing movement, losing charge, RFID card contact , And the time it is on.

The fourth column of the personality change table is a related variable field, which is a field representing the specific time and the number of repetitions of the situation.

The fifth and sixth columns of the personality change table are extroverted fields and intimacy fields, and represent fields of the personality change vectors formed. Here, "+" means an action to enhance extroversion or intimacy, and "-" means an action to reduce and suppress extroversion or intimacy.

The seventh column of the personality change table is a remarks field, which contains additional explanation.

Meanwhile, the personality change vector 607 generated as described above is added to the personality vector 601 (personality profile value) to change the personality vector 601.

This newly created personality vector (personality profile) is subsequently changed according to the passage of time, human behavior and words.

Substrate vector values, on the other hand, change personality profiles in specific directions little by little over time, providing a cause for showing various behaviors without special events. For example, the substrate vector is updated in direction and size once in a period of time, and the change range is randomly determined within [+0.005--0.005], [+0.005--0.005] per hour.

Next, referring to FIG. 7 for a situation in which the personality profile changes, the first column of FIG. 7 represents a specific situation related to the personality change, and the second column of FIG. The third column of Fig. 7 shows the process of changing the robot internal or external settings.

On the other hand, the method of the present invention as described above can be written in a computer program. And the code and code segments constituting the program can be easily inferred by a computer programmer in the art. In addition, the written program is stored in a computer-readable recording medium (information storage medium), and read and executed by a computer to implement the method of the present invention. The recording medium may include any type of recording medium that can be read by a computer.

The present invention described above is capable of various substitutions, modifications, and changes without departing from the technical spirit of the present invention for those skilled in the art to which the present invention pertains. It is not limited by the drawings.

The present invention can be used for systems and services that support interaction with humans as well as robots such as personal service robots, edutainment robots, and learning aid robots.

1 is a configuration diagram of a personality change device according to the present invention, a behavior diversification device using the same, and a robot system thereof.

2 is a flowchart illustrating a method for diversifying behavior using personality changes according to the present invention;

3 is an exemplary view for explaining the behavior script evaluation process of FIG.

4 is a flowchart illustrating an embodiment of a personality change method according to the present invention;

5 is an exemplary view for explaining a process of generating a new personality vector of FIG. 4;

6 is an exemplary view for explaining the personality change method of FIG.

7 is an exemplary view illustrating a situation in which a personality profile is changed according to the present invention;

8 is an exemplary view of a personality change table summarizing the causes of an event of changing personality profile according to the present invention;

9 is an exemplary view showing a personal robot and each sensor position representing various actions according to the present invention;

10 is an example of an action script in accordance with the present invention.

* Explanation of symbols for the main parts of the drawings

110: personality change device 111: initial temperament setting unit

112: initial personality setting unit 113: substrate vector generation unit

114: personality change vector generator 115: personality vector calculator

116: personality profile storage unit 120: behavior diversification device

121: behavior script database 122: robot behavior condition setting unit

123: action script candidate extractor 124: action script selection unit

125: action module

Claims (25)

In a robotic system, Personality changing means for changing a personality profile of the robot according to the input information; And Behavior diversification means for performing a variety of behaviors by selecting a behavior script using the personality profile from the personality change means Robot system comprising a. The method of claim 1, The personality profile, Robotic system that includes two characteristics: extroversion-introversion and agreeableness. The method of claim 2, The behavior diversification means, A robotic system that probabilistically selects an action script based on the extroversion and intimacy values. The method of claim 3, wherein The personality change means, And a robot system for changing values of extroversion and intimacy according to a substrate vector according to time information and a personality change vector according to the input information. The method according to any one of claims 1 to 4, The personality change means, An initial personality setting unit for setting an initial personality vector according to a personality character designation; A personality profile storage unit for storing an initial personality vector set by the initial personality setting unit; An initial substrate setting unit for setting an initial substrate; A substrate vector generation unit for generating an initial substrate vector according to the initial substrate set in the initial substrate setting unit and generating the substrate vector according to time flow information; A personality change vector generator for generating a personality change vector according to surrounding situation information; And Calculate a personality vector for updating the personality profile storage unit by generating a new personality vector (personality profile) by combining the substrate vector generated by the substrate vector generator, the personality change vector generated by the personality change vector generator, and the previous personality vector. part Robot system comprising a. The method of claim 5, The behavior diversification means, Action script storage means for storing an action script; A robot behavior condition setting unit configured to receive the input information and set a robot behavior condition; An action script candidate extracting unit for extracting an action script candidate group from the action script storing means according to the robot action condition set by the robot action condition setting unit; An action script selection unit for selecting an action script to be executed according to the evaluation result after evaluating the action script candidates extracted by the action script candidate extracting unit using an action script evaluation value and the personality profile storage unit; And Action performing means for performing an action according to the action script selected by the action script selection unit Robot system comprising a. In the personality change device, Means for setting an initial personality vector; Personality profile storage means for storing an initial personality vector set by said initial personality setting means; Initial substrate setting means for establishing an initial substrate; Substrate vector generating means for generating a substrate vector according to the initial substrate and time information set in said initial substrate setting means; Means for generating a personality change vector for generating a personality change vector; And Calculate a personality vector for updating the personality profile storage means by generating a personality vector (personality profile) by combining the temporal vector generated by the substrate vector generating means, the personality change vector generated by the personality change vector generating means, and the previous personality vector. Way Personality change device comprising. The method of claim 7, wherein The personality profile, Personality change devices that include two personalities of extroversion and intimacy. 9. The method according to claim 7 or 8, The initial personality setting means, Personality change device that sets the initial personality vector according to one of the four personality characters assigned by the user among the four personality characters: lovable, troublesome, grumpy, and timid. 9. The method according to claim 7 or 8, The substrate vector generating means, And generating an initial substrate vector according to the initial substrate set by the initial substrate setting means, and changing the previous substrate vector according to time flow information from an internal timer to generate the substrate vector. 9. The method according to claim 7 or 8, The personality change vector generating means, A personality change device that generates a personality change vector according to user input information and sensing information. In the behavior diversification device, Action script storage means for storing an action script; Behavior condition setting means for setting a behavior condition; Behavior script candidate extraction means for extracting a behavior script candidate from the behavior script storage means in accordance with the behavior condition set in the behavior condition setting means; Behavior script selection means for selecting an behavior script to be performed from the behavior script candidates extracted by the behavior script candidate extraction means; And Action performing means for performing an action according to the action script selected by the action script selection means Behavior diversification apparatus comprising a. 13. The method of claim 12, The action script selection means, And evaluating the behavior script candidates extracted by the behavior script candidate extraction means using the behavior script evaluation value and the personality profile, and then selecting the behavior script to be executed according to the evaluation result. The method of claim 13, The personality profile, Behavior diversification device that includes two personalities of extroversion and intimacy. The method of claim 13, The action script selection means, After calculating the weights of the behavior script candidates extracted by the behavior script candidate extracting means based on the behavior script evaluation value and the personality profile, and calculating the probability by dividing the calculated weight by the total weight sum, A behavior diversification device that selects a behavior script to perform based on a distribution of calculated probabilities. The method according to any one of claims 12 to 15, The action condition setting means, A behavior diversification device configured to receive user input information, sensing information, and time flow information and set behavior conditions. In the personality change method, An initial vector setting step of setting an initial substrate vector and an initial personality vector; A vector generation step of generating a personality change vector and a substrate vector according to the input information; Generating a new personality vector (personality profile) by combining the generated substrate vector, the generated personality change vector, and the previous personality vector; And Updating the previous personality vector using the newly generated personality vector Personality change method, including. The method of claim 17, The personality profile, Personality change methods that include two personalities of extroversion and intimacy. The method of claim 17 or 18, The initial vector setting step, Initially the system randomly establishes an initial substrate vector; And Setting an initial personality vector according to a user's personality character assignment Personality change method, including. The method of claim 17 or 18, The vector generation step, A personality change method of generating a substrate vector by changing a previous substrate vector according to time information and generating a personality change vector according to user input information and sensing information. In the behavior diversification method, Storing an action script; An action condition setting step of setting an action condition; Extracting an action script candidate from the stored action scripts according to the set action condition; An action script selection step of selecting an action script to be performed from the extracted action script candidates; And Performing an action according to the selected action script Behavior diversification method comprising a. The method of claim 21, The action script selection step, Evaluating the extracted behavior script candidates using behavior script evaluation values and personality profiles; And A process of selecting an action script to be performed according to the evaluation result Behavior diversification method comprising a. The method of claim 22, The personality profile, A method of behavior diversification that includes two personalities of extroversion and intimacy. The method of claim 22, The action script selection step, Calculating weights of the extracted behavior script candidates based on the behavior script evaluation value and the personality profile, respectively; Calculating each probability by dividing the calculated weight by the total weight sum; And A process of selecting an action script to be performed according to the distribution of the calculated probabilities Behavior diversification method comprising a. The method according to any one of claims 21 to 24, The action condition setting step, A behavior diversification method of setting an action condition by receiving user input information, sensing information, and time flow information.

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