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1. 发明授权

US06697711B2 Operational control method, program, and recording media for robot device, and robot device 失效
标题翻译：机器人装置的操作控制方法，程序和记录介质，以及机器人装置
公开(公告)号：US06697711B2
公开(公告)日：2004-02-24
申请号：US10258110
申请日：2002-10-18
申请人： Jun Yokono , Kohtaro Sabe , Gabriel Costa , Takeshi Ohashi
发明人： Jun Yokono , Kohtaro Sabe , Gabriel Costa , Takeshi Ohashi
IPC分类号： G06F1900
CPC分类号： G06N3/008
摘要： A robot apparatus (1) includes leg blocks (3A to 3D), head block (4), etc. as a moving part (16), a motion controller (102), learning unit (103), prediction unit (104) and a drive unit (105). When the moving part (106), any of the blocks, is operated from outside, the learning unit (103) learns a time-series signal generated due to the external operation. The motion controller (102) and drive unit (105) control together the moving part (106) based on a signal generated at the moving part (106) due to an external force applied to the robot apparatus (1) and a signal having already been learned by the learning unit (103) to make an action taught by the user. The prediction unit (105) predicts whether the moving part (106) makes the taught action according to the initial signal generated at the moving part (106) due to the applied external force. Thus, the robot apparatus (1) can learn an action taught by the user and determine an external force-caused signal to make the taught action.
摘要翻译：机器人装置（1）包括作为移动部件（16）的腿部块（3A至3D），头部块（4）等，运动控制器（102），学习单元（103），预测单元（104）和驱动单元（105）。当移动部分（106），任何块，从外部操作时，学习单元（103）学习由于外部操作而产生的时间序列信号。运动控制器（102）和驱动单元（105）基于由于施加到机器人装置（1）的外力而在运动部件（106）处产生的信号，以及已经具有的信号，一起控制运动部件（106）被学习单元（103）学习以进行用户教导的动作。预测单元（105）根据施加的外力来预测移动部件（106）是否根据在移动部件（106）产生的初始信号进行教导动作。因此，机器人装置（1）可以学习用户教导的动作，并确定外力产生的信号以进行教导动作。

2. 发明申请

US20050267636A1 Image transmission device and method, transmitting device and method, receiving device and method, and robot apparatus 失效
公开(公告)号：US20050267636A1
公开(公告)日：2005-12-01
申请号：US11137081
申请日：2005-05-25
申请人： Masaki Fukuchi , Takayuki Yoshigahara , Kohtaro Sabe , Takeshi Ohashi
发明人： Masaki Fukuchi , Takayuki Yoshigahara , Kohtaro Sabe , Takeshi Ohashi
IPC分类号： B25J5/00 , B25J9/16 , G06F19/00 , H04J3/00 , H04J3/02 , H04L12/43 , H04L29/06 , H04N7/08 , H04N7/081 , H04N7/173 , H04N7/18
CPC分类号： H04N21/4345 , H04L29/06027 , H04L65/602 , H04L65/604 , H04N21/2187 , H04N21/2362 , H04N21/2365 , H04N21/4347 , Y10S707/99945 , Y10S707/99948
摘要： An image transmission device and method, a transmitting device and method, a receiving device and method, and robot apparatus are capable of effectively transmitting the image data of multiple channels by using the existing systems which are formed on the premise of transmitting and receiving of the image data through single transmission line. At a transmitting side, the image data of multiple channels to be input is multiplexed with switching the channels by frame, and prescribed image information is added to each of the multiplexed image data of each frame. At a receiving side, the image information added to each of the image data for each frame respectively transmitted from the transmitting means are analyzed, and dividing means for dividing for each frame and outputting the multiplexed image data transmitted from the transmitting means to the corresponding channels is provided based on the analysis result.

3. 发明申请

US20050216123A1 Image transmission device and method, transmitting device and method, receiving device and method, and robot apparatus 失效
标题翻译：图像传输装置及方法，发送装置及方法，接收装置及方法及机器人装置
公开(公告)号：US20050216123A1
公开(公告)日：2005-09-29
申请号：US11133011
申请日：2005-05-19
申请人： Masaki Fukuchi , Takayuki Yoshigahara , Kohtaro Sabe , Takeshi Ohashi
发明人： Masaki Fukuchi , Takayuki Yoshigahara , Kohtaro Sabe , Takeshi Ohashi
IPC分类号： B25J5/00 , B25J9/16 , G06F19/00 , H04J3/00 , H04J3/02 , H04L12/43 , H04L29/06 , H04N7/08 , H04N7/081 , H04N7/173 , H04N7/18
CPC分类号： H04N21/4345 , H04L29/06027 , H04L65/602 , H04L65/604 , H04N21/2187 , H04N21/2362 , H04N21/2365 , H04N21/4347 , Y10S707/99945 , Y10S707/99948
摘要： An image transmission device and methods a transmitting device and method, a receiving device and method, and robot apparatus are capable of effectively transmitting the image data of multiple channels by using the existing systems which are formed on the premise of transmitting and receiving of the image data through single transmission line. At a transmitting side, the image data of multiple channels to be input is multiplexed with switching the channels by frame, and prescribed image information is added to each of the multiplexed image data of each frame. At a receiving side, the image information added to each of the image data for each frame respectively transmitted from the transmitting means are analyzed, and dividing means for dividing for each frame and outputting the multiplexed image data transmitted from the transmitting means to the corresponding channels is provided based on the analysis result.
摘要翻译：图像发送装置和方法，发送装置和方法，接收装置和方法以及机器人装置能够通过使用在发送和接收图像的前提下形成的现有系统来有效地发送多个信道的图像数据数据通过单传输线。在发送侧，将要输入的多个信道的图像数据通过逐帧切换而多路复用，并且将规定的图像信息添加到每帧的多路复用图像数据中。在接收侧，对从发送装置分别发送的每帧的每个图像数据添加的图像信息进行分析，并且对每个帧进行分割，并将从发送装置发送的复用图像数据输出到相应的通道是基于分析结果提供的。

4. 发明授权

US09336610B2 Information processing device, method, and program 有权
标题翻译：信息处理装置，方法和程序
公开(公告)号：US09336610B2
公开(公告)日：2016-05-10
申请号：US13071951
申请日：2011-03-25
申请人： Takeshi Ohashi , Kohtaro Sabe
发明人： Takeshi Ohashi , Kohtaro Sabe
IPC分类号： G06K9/00 , G06T11/00 , H04N1/62 , G06T7/00
CPC分类号： G06T11/001 , G06K9/00234 , G06K9/00308 , G06T7/11 , G06T2207/30201 , H04N1/62
摘要： An information processing device includes a face detection unit that detects a face area from a target image, a feature point detection unit that detects a feature point of the detected face area, a determination unit that determines an attention area that is an area to which attention is paid in the face area based on the detected feature point, a reference color extraction unit that extracts a reference color that is color setting obtained from the target image in the determined attention area, an adjustment unit that adjusts the extracted reference color to a color setting for a modified image generated from the target image as a base, and a generation unit that generates the modified image from the target image by drawing the attention area using the color setting for the modified image.
摘要翻译：一种信息处理装置，包括从目标图像检测面部区域的面部检测单元，检测检测到的面部区域的特征点的特征点检测单元，确定作为关注区域的关注区域的判定单元基于检测到的特征点在面部区域中支付参考颜色提取单元，提取从所确定的关注区域中的目标图像获得的作为颜色设置的参考颜色的参照颜色提取单元，将提取的参考颜色调整为颜色的调整单元从作为基准的目标图像生成的修改图像的设置，以及生成单元，其通过使用修改图像的颜色设置绘制注意区域，从目标图像生成修改图像。

5. 发明授权

US07050884B2 Image transmission device and method, transmitting device and method, receiving device and method, and robot apparatus 有权
标题翻译：图像传输装置及方法，发送装置及方法，接收装置及方法及机器人装置
公开(公告)号：US07050884B2
公开(公告)日：2006-05-23
申请号：US10390143
申请日：2003-03-17
申请人： Masaki Fukuchi , Takayuki Yoshigahara , Kohtaro Sabe , Takeshi Ohashi
发明人： Masaki Fukuchi , Takayuki Yoshigahara , Kohtaro Sabe , Takeshi Ohashi
IPC分类号： G06F19/00
CPC分类号： H04N21/4345 , H04L29/06027 , H04L65/602 , H04L65/604 , H04N21/2187 , H04N21/2362 , H04N21/2365 , H04N21/4347 , Y10S707/99945 , Y10S707/99948
摘要： An image transmission device and method, a transmitting device and method, a receiving device and method, and robot apparatus are capable of effectively transmitting the image data of multiple channels by using the existing systems which are formed on the premise of transmitting and receiving of the image data through single transmission line. At a transmitting side, the image data of multiple channels to be input is multiplexed with switching the channels by frame, and prescribed image information is added to each of the multiplexed image data of each frame. At a receiving side, the image information added to each of the image data for each frame respectively transmitted from the transmitting means are analyzed, and dividing means for dividing for each frame and outputting the multiplexed image data transmitted from the transmitting means to the corresponding channels is provided based on the analysis result.
摘要翻译：图像传输装置和方法，发送装置和方法，接收装置和方法以及机器人装置能够通过使用在发送和接收的方式形成的现有系统来有效地发送多个信道的图像数据图像数据通过单一传输线。在发送侧，将要输入的多个信道的图像数据通过逐帧切换而多路复用，并且将规定的图像信息添加到每帧的多路复用图像数据中。在接收侧，对从发送装置分别发送的每帧的每个图像数据添加的图像信息进行分析，并且对每个帧进行分割，并将从发送装置发送的复用图像数据输出到相应的通道是基于分析结果提供的。

6. 发明申请

US20050259677A1 Image transmission device and method, transmitting device and method, receiving device and method, and robot apparatus 失效
标题翻译：图像传输装置及方法，发送装置及方法，接收装置及方法及机器人装置
公开(公告)号：US20050259677A1
公开(公告)日：2005-11-24
申请号：US11132573
申请日：2005-05-19
申请人： Masaki Fukuchi , Takayuki Yoshigahara , Kohtaro Sabe , Takeshi Ohashi
发明人： Masaki Fukuchi , Takayuki Yoshigahara , Kohtaro Sabe , Takeshi Ohashi
IPC分类号： B25J5/00 , B25J9/16 , G06F19/00 , H04J3/00 , H04J3/02 , H04L12/43 , H04L29/06 , H04N7/08 , H04N7/081 , H04N7/173 , H04N7/18
CPC分类号： H04N21/4345 , H04L29/06027 , H04L65/602 , H04L65/604 , H04N21/2187 , H04N21/2362 , H04N21/2365 , H04N21/4347 , Y10S707/99945 , Y10S707/99948
摘要： An image transmission device and method, a transmitting device and method, a receiving device and method, and robot apparatus are capable effectively transmitting the image data of multiple channels by using the existing systems which are formed on the premise of transmitting and receiving of the image data through single transmission line. At a transmitting side, the image data of multiple channels to be input is multiplexed with switching the channels by frame, and prescribed image information is added to each of the multiplexed image data of each frame. At a receiving side, the image information added to each of the image data for each frame respectively transmitted from the transmitting means are analyzed, and dividing means for dividing for each frame and outputting the multiplexed image data transmitted from the transmitting means to the corresponding channels is provided based on the analysis result.
摘要翻译：图像发送装置和方法，发送装置和方法，接收装置和方法以及机器人装置能够通过使用在图像的发送和接收的前提下形成的现有系统来有效地发送多个信道的图像数据数据通过单传输线。在发送侧，将要输入的多个信道的图像数据通过逐帧切换而多路复用，并且将规定的图像信息添加到每帧的多路复用图像数据中。在接收侧，对从发送装置分别发送的每帧的每个图像数据添加的图像信息进行分析，并且对每个帧进行分割，并将从发送装置发送的复用图像数据输出到相应的通道是基于分析结果提供的。

7. 发明授权

US07346430B2 Image transmission device and method, transmitting device and method, receiving device and method, and robot apparatus 失效
标题翻译：图像传输装置及方法，发送装置及方法，接收装置及方法及机器人装置
公开(公告)号：US07346430B2
公开(公告)日：2008-03-18
申请号：US11133403
申请日：2005-05-19
申请人： Masaki Fukuchi , Takayuki Yoshigahara , Kohtaro Sabe , Takeshi Ohashi
发明人： Masaki Fukuchi , Takayuki Yoshigahara , Kohtaro Sabe , Takeshi Ohashi
IPC分类号： G06F19/00
CPC分类号： H04N21/4345 , H04L29/06027 , H04L65/602 , H04L65/604 , H04N21/2187 , H04N21/2362 , H04N21/2365 , H04N21/4347 , Y10S707/99945 , Y10S707/99948
摘要： An image transmission device and method, a transmitting device and method, a receiving device and method, and robot apparatus are capable of effectively transmitting the image data of multiple channels by using the existing systems which are formed on the premise of transmitting and receiving of the image data through single transmission line. At a transmitting side, the image data of multiple channels to be input is multiplexed with switching the channels by frame, and prescribed image information is added to each of the multiplexed image data of each frame. At a receiving side, the image information added to each of the image data for each frame respectively transmitted from the transmitting device are analyzed, and dividing device for dividing for each frame and outputting the multiplexed image data transmitted from the transmitting device to the corresponding channels is provided based on the analysis result.
摘要翻译：图像传输装置和方法，发送装置和方法，接收装置和方法以及机器人装置能够通过使用在发送和接收的方式形成的现有系统来有效地发送多个信道的图像数据图像数据通过单一传输线。在发送侧，将要输入的多个信道的图像数据通过逐帧切换而多路复用，并且将规定的图像信息添加到每帧的多路复用图像数据中。在接收侧，对从发送装置分别发送的每帧的每个图像数据中添加的图像信息进行分析，并且对每个帧进行分割，并将从发送装置发送的复用图像数据输出到对应的信道是基于分析结果提供的。

8. 发明授权

US07269478B2 Image transmission device and method, transmitting device and method, receiving device and method, and robot apparatus 失效
标题翻译：图像传输装置及方法，发送装置及方法，接收装置及方法及机器人装置
公开(公告)号：US07269478B2
公开(公告)日：2007-09-11
申请号：US11137081
申请日：2005-05-25
申请人： Masaki Fukuchi , Takayuki Yoshigahara , Kohtaro Sabe , Takeshi Ohashi
发明人： Masaki Fukuchi , Takayuki Yoshigahara , Kohtaro Sabe , Takeshi Ohashi
IPC分类号： G06F19/00
CPC分类号： H04N21/4345 , H04L29/06027 , H04L65/602 , H04L65/604 , H04N21/2187 , H04N21/2362 , H04N21/2365 , H04N21/4347 , Y10S707/99945 , Y10S707/99948
摘要： An image transmission device and method, a transmitting device and method, a receiving device and method, and robot apparatus are capable of effectively transmitting the image data of multiple channels by using the existing systems which are formed on the premise of transmitting and receiving of the image data through single transmission line. At a transmitting side, the image data of multiple channels to be input is multiplexed with switching the channels by frame, and prescribed image information is added to each of the multiplexed image data of each frame. At a receiving side, the image information added to each of the image data for each frame respectively transmitted from the transmitting are analyzed, and dividing for dividing for each frame and outputting the multiplexed image data transmitted from the transmitting to the corresponding channels is provided based on the analysis result.
摘要翻译：图像传输装置和方法，发送装置和方法，接收装置和方法以及机器人装置能够通过使用在发送和接收的方式形成的现有系统来有效地发送多个信道的图像数据图像数据通过单一传输线。在发送侧，将要输入的多个信道的图像数据通过逐帧切换而多路复用，并且将规定的图像信息添加到每帧的多路复用图像数据中。在接收侧，分别添加到从发送分别发送的每帧的每个图像数据中的图像信息，并且基于每个帧划分并将从发送发送的多路复用图像数据输出到相应的信道，基于对分析结果。

9. 发明授权

US08625859B2 Information processing apparatus, information processing method, and program 有权
标题翻译：信息处理装置，信息处理方法和程序
公开(公告)号：US08625859B2
公开(公告)日：2014-01-07
申请号：US12902744
申请日：2010-10-12
申请人： Kohtaro Sabe , Takeshi Ohashi
发明人： Kohtaro Sabe , Takeshi Ohashi
IPC分类号： G06K9/00
CPC分类号： G06K9/00281 , G06K9/00288 , G06K9/6256
摘要： An information processing apparatus including an image acquisition unit that acquires a target image; a face part extraction unit that extracts a face region including a face part from the target image; an identification unit that identifies a model face part by comparing the face part to a plurality of model face parts stored in a storage unit; and an illustration image determination unit that determines an illustration image corresponding to the identified model face part.
摘要翻译：一种信息处理设备，包括：获取目标图像的图像获取单元; 面部部分提取单元，从目标图像中提取包括脸部的面部区域; 识别单元，通过将所述面部部件与存储在存储单元中的多个模型面部部件进行比较来识别模型面部部件; 以及图像确定单元，其确定与所识别的模型脸部部分相对应的图示图像。

10. 发明授权

US07437214B2 Robot device and method of controlling the same 有权
标题翻译：机器人装置及其控制方法
公开(公告)号：US07437214B2
公开(公告)日：2008-10-14
申请号：US10515854
申请日：2004-03-24
申请人： Kohtaro Sabe , Takeshi Ohashi , Kenta Kawamoto
发明人： Kohtaro Sabe , Takeshi Ohashi , Kenta Kawamoto
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： A legged mobile robot can calculate the movement amount between a portion of the robot apparatus that had been in contact with a floor up to now and a next portion of the robot apparatus in contact with the floor using kinematics and to switch transformation to a coordinate system serving as an observation reference as a result of the switching between the floor contact portions.
摘要翻译：腿式移动机器人可以计算出与现在的地板接触的机器人装置的一部分与使用运动学与地板接触的机器人装置的下一部分之间的移动量，并将变换切换到坐标系作为地板接触部之间的切换的结果作为观察参考。

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