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1. 发明授权

US06862497B2 Man-machine interface unit control method, robot apparatus, and its action control method 有权
标题翻译：人机界面单元控制方法，机器人装置及其动作控制方法
公开(公告)号：US06862497B2
公开(公告)日：2005-03-01
申请号：US10343525
申请日：2002-06-03
申请人： Thomas Kemp , Ralf Kompe , Raquel Tato , Masahiro Fujita , Katsuki Minamino , Kenta Kawamoto , Rika Horinaka
发明人： Thomas Kemp , Ralf Kompe , Raquel Tato , Masahiro Fujita , Katsuki Minamino , Kenta Kawamoto , Rika Horinaka
IPC分类号： B62D57/02 , B62D57/032 , G05B13/02 , G05B19/042 , G05B15/00 , G05B19/33
CPC分类号： G05B19/042 , B62D57/02 , B62D57/032 , G05B13/0265
摘要： There is proposed a method that may be universally used for controlling a man-machine interface unit. A learning sample is used in order at least to derive and/or initialize a target action (t) to be carried out and to lead the user from an optional current status (ec) to an optional desired target status (et) as the final status (ef). This learning sample (l) is formed by a data triple made up by an initial status (ei) before an optional action (a) carried out by the user, a final status (ef) after the action taken place (a).
摘要翻译：提出了可以普遍地用于控制人机接口单元的方法。至少使用学习样本来导出和/或初始化要执行的目标动作（t），并且将用户从可选的当前状态（ec）引导到可选的期望目标状态（et），作为最终的状态（ef）。该学习样本（l）由在用户执行的可选动作（a）之前由初始状态（ei）组成的数据三进制形成，（a）动作之后的最终状态（ef）。

2. 发明授权

US06718232B2 Robot device and behavior control method for robot device 有权
标题翻译：机器人装置的机器人装置和行为控制方法
公开(公告)号：US06718232B2
公开(公告)日：2004-04-06
申请号：US10149996
申请日：2002-09-24
申请人： Masahiro Fujita , Tsuyoshi Takagi , Rika Horinaka , Jun Yokono , Gabriel Costa , Hideki Shimomura , Katsuki Minamino
发明人： Masahiro Fujita , Tsuyoshi Takagi , Rika Horinaka , Jun Yokono , Gabriel Costa , Hideki Shimomura , Katsuki Minamino
IPC分类号： G06F1900
CPC分类号： G06N3/008 , B25J9/1602 , G05B2219/33053 , G05B2219/33056 , G05B2219/35453 , G05B2219/39254
摘要： A robot apparatus causes the emotion in a feeling part (130) to be changed based on the information acquired by a perception part (120) to manifest the behavior of information acquisition as autonomous behavior. The robot apparatus includes a behavior control part for causing the robot apparatus to manifest a language acquisition behavior and a meaning acquisition part. The robot apparatus also includes a control part for performing the behavior control of pointing its object of learning. The robot apparatus causes changes in internal states, which are ascribable to the object, to be stored in a memory part in association with the object.
摘要翻译：机器人装置根据感知部分（120）获取的信息，使感觉部分（130）中的情感发生变化，从而将信息获取的行为表现为自主行为。机器人装置包括使机器人装置显示语言获取行为和意义获取部分的行为控制部。机器人装置还包括用于执行指向其学习对象的行为控制的控制部分。机器人装置使得归因于对象的内部状态的变化被存储在与对象相关联的存储器部分中。

3. 发明授权

US07987091B2 Dialog control device and method, and robot device 有权
标题翻译：对话控制装置和方法，以及机器人装置
公开(公告)号：US07987091B2
公开(公告)日：2011-07-26
申请号：US10536926
申请日：2003-12-02
申请人： Kazumi Aoyama , Yukiko Yoshiike , Shinya Ohtani , Rika Horinaka , Hideki Shimomura
发明人： Kazumi Aoyama , Yukiko Yoshiike , Shinya Ohtani , Rika Horinaka , Hideki Shimomura
IPC分类号： G10L15/06
CPC分类号： G10L15/22
摘要： A robot can make a dialog customized for the user by first storing various pieces of information appendant to an object as values of the corresponding items of the object. A topic that is related to the topic used in the immediately preceding conversation is then selected. Then, an acquisition conversation for acquiring the value of the item of the selected topic or a utilization conversation for utilizing the value of the item of the topic that is already stored is generated as the next conversation. The value acquired by the acquisition conversation is stored as the value of the corresponding item.
摘要翻译：机器人可以通过首先将对象的各个信息作为对象的项目的值存储到对象中来为用户制作对话框。然后选择与前一个会话中使用的主题相关的主题。然后，生成用于获取所选主题的项目的值的获取对话或者用于利用已存储的主题的项目的值的利用对话作为下一个对话。由采集会话获取的值存储为相应项目的值。

4. 发明授权

US07251606B2 Robot device with changing dialogue and control method therefor and storage medium 失效
标题翻译：具有改变对话和控制方法的机器人装置和存储介质
公开(公告)号：US07251606B2
公开(公告)日：2007-07-31
申请号：US10296403
申请日：2002-03-26
申请人： Rika Horinaka , Masahiro Fujita , Atsushi Okubo , Kenta Kawamoto , Gabriel Costa , Masaki Fukuchi , Osamu Hanagata , Kotaro Sabe
发明人： Rika Horinaka , Masahiro Fujita , Atsushi Okubo , Kenta Kawamoto , Gabriel Costa , Masaki Fukuchi , Osamu Hanagata , Kotaro Sabe
IPC分类号： G10L15/22
CPC分类号： G06N3/008 , B25J13/003 , G10L15/22 , G10L17/26
摘要： Sentences corresponding to internal statuses of a robot device or the like are created and uttered, thereby expressing the internal statuses. The robot device or the like comprise means for recognizing an external status, and means for generating an emotion based on the internals status, whereby a change in the emotion is reflected upon a dialogue. The internal status is not associated with a sentence, but it exists independently of the system and is always varied depending on various external inputs and internal changes of the system. Accordingly, even when the same question is made on the robot device or the like, the contents of a reply are changed depending on the internal status at that time, and a manner of providing a reply also differs depending on the internal status.
摘要翻译：创建并发出对应于机器人装置等的内部状态的句子，从而表示内部状态。机器人装置等包括用于识别外部状态的装置，以及用于基于内部状态产生情绪的装置，由此在对话中反映情绪的改变。内部状态与句子不相关，但它与系统无关，并且总是根据系统的各种外部输入和内部变化而变化。因此，即使在机器人装置等上进行同样的问题时，答复的内容根据当时的内部状态而变化，提供答复的方式也根据内部状态而不同。

5. 发明授权

US07216082B2 Action teaching apparatus and action teaching method for robot system, and storage medium 失效
标题翻译：机器人系统和存储介质的动作教学仪器和动作教学方法
公开(公告)号：US07216082B2
公开(公告)日：2007-05-08
申请号：US10296269
申请日：2002-03-26
申请人： Atsushi Okubo , Gabriel Costa , Kenta Kawamoto , Rika Horinaka , Masaki Fukuchi , Masahiro Fujita
发明人： Atsushi Okubo , Gabriel Costa , Kenta Kawamoto , Rika Horinaka , Masaki Fukuchi , Masahiro Fujita
IPC分类号： G10L15/22
CPC分类号： B25J13/003 , G10L15/26 , G10L2015/088 , G10L2015/223
摘要： A robot system includes a speech recognition unit for converting speech information into text information, and a database retrieval unit for extracting a keyword included in the text information from a database. By designating a plurality of basic actions on a speech basis, and storing an action record, a combined action formed by combining the plurality of basic actions in time-series order can be named as a new action only in voice-based interaction. A user can designate complicated continuous actions by using only one word, and can easily have a conversation with the robot.
摘要翻译：机器人系统包括用于将语音信息转换为文本信息的语音识别单元，以及用于从数据库中提取包含在文本信息中的关键字的数据库检索单元。通过在语音基础上指定多个基本动作，并且存储动作记录，通过以时间序列顺序组合多个基本动作形成的组合动作可以仅在基于语音的交互中被命名为新动作。用户可以通过仅使用一个字来指定复杂的连续动作，并且可以容易地与机器人通话。

6. 发明申请

US20060047362A1 Dialogue control device and method, and robot device 有权
标题翻译：对话控制装置和方法以及机器人装置
公开(公告)号：US20060047362A1
公开(公告)日：2006-03-02
申请号：US10536926
申请日：2003-12-02
申请人： Kazumi Aoyama , Yukiko Yoshiike , Shinya Ohtani , Rika Horinaka , Hideki Shimomura
发明人： Kazumi Aoyama , Yukiko Yoshiike , Shinya Ohtani , Rika Horinaka , Hideki Shimomura
IPC分类号： G06F19/00
CPC分类号： G10L15/22
摘要： No robot that can make a dialog customized for the user is known to date. According to the invention, various pieces of information appendant to an object are stored as values of the corresponding items of the object and a topic that is related to the topic used in the immediately preceding conversation is selected. Then, an acquisition conversation for acquiring the value of the item of the selected topic or a utilization conversation for utilizing the value of the item of the topic that is already stored is generated as the next conversation. The value acquired by the acquisition conversation is stored as the value of the corresponding item.
摘要翻译：到目前为止，没有可以为用户定制的对话框的机器人是已知的。根据本发明，附加到对象的各种信息被存储为对象的相应项目的值，并且选择与在前一个会话中使用的主题相关的主题。然后，生成用于获取所选主题的项目的值的获取对话或者用于利用已存储的主题的项目的值的利用对话作为下一个对话。由采集会话获取的值存储为相应项目的值。

7. 发明授权

US07222076B2 Speech output apparatus 有权
标题翻译：语音输出设备
公开(公告)号：US07222076B2
公开(公告)日：2007-05-22
申请号：US10276935
申请日：2002-03-22
申请人： Erika Kobayashi , Makoto Akabane , Tomoaki Nitta , Hideki Kishi , Rika Horinaka , Masashi Takeda
发明人： Erika Kobayashi , Makoto Akabane , Tomoaki Nitta , Hideki Kishi , Rika Horinaka , Masashi Takeda
IPC分类号： G10L15/00
CPC分类号： G10L13/033 , G10L13/00 , G10L2015/228
摘要： The present invention relates to a voice output apparatus capable of, in response to a particular stimulus, stopping outputting a voice and outputting a reaction. The voice output apparatus is capable of outputting a voice in a natural manner. A rule-based synthesizer 24 produces a synthesized voice and outputs it. For example, when a synthesized voice “Where is an exit” was produced and outputting of the synthesized voice data has proceeded until “Where is an e” has been output, if a user taps a robot, then a reaction generator 30 determines, by referring to a reaction database 31, that a reaction voice “Ouch!” should be output in response to being tapped. The reaction generator 30 then controls an output controller 27 so as to stop outputting the synthesized voice “Where is an exit?” and output the reaction voice “Ouch!”. Thereafter, the reaction generator 30 controls the read pointer of a buffer 26 controlled by the read controller 29 such that the outputting of the synthesized voice is resumed from the point at which the outputting was stopped. Thus, the synthesized voice “Where is an e, Ouch!, xit?” is output.
摘要翻译：本发明涉及一种语音输出装置，其能够响应于特定的刺激，停止输出语音并输出反应。语音输出装置能够以自然的方式输出声音。基于规则的合成器24产生合成语音并输出它。例如，当合成声音“出现在哪里”时，合成语音数据的输出已经进行到“输出了哪里”，如果用户点击机器人，则反应发生器30通过指反应数据库31，反应声音“噢！” 应该被输出以响应被点击。然后，反应发生器30控制输出控制器27，以便停止输出合成语音“出口在哪里”？并输出反应声音“哦！”。此后，反应发生器30控制由读取控制器29控制的缓冲器26的读取指针，使得从输出停止的点恢复合成语音的输出。因此，合成的声音“哪里是e，呃！xit？” 被输出。

8. 发明授权

US07813835B2 Robot behavior control system, behavior control method, and robot device 有权
标题翻译：机器人行为控制系统，行为控制方法和机器人装置
公开(公告)号：US07813835B2
公开(公告)日：2010-10-12
申请号：US10477574
申请日：2003-03-17
申请人： Masahiro Fujita , Tsuyoshi Takagi , Rika Horinaka , Shinya Ohtani
发明人： Masahiro Fujita , Tsuyoshi Takagi , Rika Horinaka , Shinya Ohtani
IPC分类号： G06F19/00
CPC分类号： G06N3/008 , B25J9/1602 , B25J9/161 , B25J13/003 , G05B2219/33052 , G05B2219/39254
摘要： A behavior control system for a robot apparatus that operates autonomously. The behavior control system includes a plurality of behavior description sections for describing motions of the robot and an external environment recognition section. The system also includes an internal state management section for managing an internal state of the robot in response to the recognized external environment and/or a result of execution of a behavior, and for managing emotions. A behavior evaluation section evaluates execution of behaviors in response to the external environment and/or the internal state.
摘要翻译：一种用于自主操作的机器人装置的行为控制系统。行为控制系统包括用于描述机器人的运动和外部环境识别部分的多个行为描述部分。该系统还包括用于响应于所识别的外部环境和/或行为的执行结果以及用于管理情绪来管理机器人的内部状态的内部状态管理部分。行为评估部分评估响应于外部环境和/或内部状态的行为的执行。

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