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1. 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。

2. 发明授权

US06754560B2 Robot device, robot device action control method, external force detecting device and external force detecting method 失效
标题翻译：机器人装置，机器人装置动作控制方法，外力检测装置及外力检测方法
公开(公告)号：US06754560B2
公开(公告)日：2004-06-22
申请号：US09980132
申请日：2002-03-14
申请人： Masahiro Fujita , Tsuyoshi Takagi , Rika Hasegawa , Osamu Hanagata , Jun Yokono , Gabriel Costa , Hideki Shimomura
发明人： Masahiro Fujita , Tsuyoshi Takagi , Rika Hasegawa , Osamu Hanagata , Jun Yokono , Gabriel Costa , Hideki Shimomura
IPC分类号： G06F1900
CPC分类号： G06K9/6288 , B25J13/003 , B25J13/08 , G05B2219/35453 , G05B2219/40201 , G06N3/008 , G10L15/26
摘要： A robot is proposed which has a speech recognition unit to detect information supplied simultaneously with or just before or after detection of a touch by a touch sensor, an associative memory/recall memory to store action made correspondingly to the touch and input information (speech signal) detected by the speech recognition unit in association with each other, and an action generator to control the robot to make action recalled by the associative memory/recall memory based on a newly acquired input information (speech signal). The robot has also a sensor data processor to allow the robot to act correspondingly to the touch detection by the touch sensor. Thus, the robot can learn action in association with an input signal such as speech signal.
摘要翻译：提出了一种机器人，其具有语音识别单元，用于检测由触摸传感器检测到触摸之前或之后提供的信息;相关存储器/回忆存储器，用于存储对应于触摸和输入信息（语音信号），以及动作发生器，其基于新获取的输入信息（语音信号），控制所述机器人使由所述关联存储器/召回存储器进行动作调用。机器人还具有传感器数据处理器，以允许机器人相应地通过触摸传感器进行触摸检测。因此，机器人可以与诸如语音信号的输入信号相关联地学习动作。

3. 发明申请

US20090150317A1 Information processing apparatus, information processing method and program 审中-公开
标题翻译：信息处理装置，信息处理方法和程序
公开(公告)号：US20090150317A1
公开(公告)日：2009-06-11
申请号：US12315100
申请日：2008-11-26
申请人： Katsuki Minamino , Hideki Shimomura , Jun Yokono , Kenta Kawamoto
发明人： Katsuki Minamino , Hideki Shimomura , Jun Yokono , Kenta Kawamoto
IPC分类号： G06N5/02
CPC分类号： B25J9/1602 , G05B2219/33051
摘要： An information processing apparatus includes a target storage means, a control means, a decision means, a prediction means and a generating means, in which the decision means, when determining that the system state makes a transition to a state represented by the target value in accordance with the output of the time series of motor signals generated by the generating means, updates a parameter representing the relationship between input and output, which is used by the control means for controlling the system based on the time series of motor signals generated by the generating means and a time series of sensor signals observed in accordance with the output of the time series of motor signals.
摘要翻译：信息处理装置包括目标存储装置，控制装置，判定装置，预测装置和产生装置，其中当确定系统状态转变为由目标值表示的状态时，判定装置根据由发生装置产生的电机信号的时间序列的输出，更新表示输入和输出之间的关系的参数，该参数由用于控制系统的控制装置使用，该控制装置基于由根据电机信号的时间序列的输出观察的发生装置和时间序列的传感器信号。

4. 发明授权

US07103447B2 Robot apparatus, and behavior controlling method for robot apparatus 失效
标题翻译：机器人装置和机器人装置的行为控制方法
公开(公告)号：US07103447B2
公开(公告)日：2006-09-05
申请号：US10651577
申请日：2003-08-29
申请人： Ugo Di Profio , Masahiro Fujita , Tsuyoshi Takagi , Yukiko Yoshiike , Hideki Shimomura
发明人： Ugo Di Profio , Masahiro Fujita , Tsuyoshi Takagi , Yukiko Yoshiike , Hideki Shimomura
IPC分类号： G06F19/00
CPC分类号： G06N3/008
摘要： A robot (1) is provided which includes a situated behaviors layer (SBL) (58). This SBL (58) is formed in the form of a tree structure in which a plurality of schemata (behavior modules) is connected hierarchically in such a matter that the schemata are highly independent of each other for each of them to behave uniquely. A patent schema can define a pattern in which child schemata are connected, such as an OR type pattern in which the child schemata are caused to behave uniquely, AND type pattern in which the plurality of child schemata are caused to behave simultaneously or a SEQUENCE type pattern indicating a sequence in which the plurality of child schemata should behave, thereby permitting to select a behavior pattern of the robot (1). Also, a new child schema can additionally be included in the SBL (58) without having to rewrite the schemata connection in the tree structure, whereby a new behavior or function can be added to the robot (1). Namely, the plurality of behavior modules permits to enable the robot (1) to show a complicated behavior and have units thereof recombined.
摘要翻译：提供了一种包括位置行为层（SBL）（58）的机器人（1）。该SBL（58）形成为树结构的形式，其中多个模式（行为模块）在层级上连接，使得模式对于它们中的每一个独立地彼此高度独立。专利模式可以定义连接子模式的模式，例如使子模式在其中被执行为唯一的OR类型模式，以及使多个子模式被同时行为的类型模式或SEQUENCE类型模式，其指示多个子图案应该行为的顺序，从而允许选择机器人（1）的行为模式。另外，SBL（58）中还可以包括新的子模式，而不需要重写树形结构中的模式连接，从而可以向机器人（1）添加新的行为或功能。也就是说，多个行为模块允许机器人（1）显示复杂的行为并且其单元重新组合。

5. 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。

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

US07499892B2 Information processing apparatus, information processing method, and program 失效
标题翻译：信息处理装置，信息处理方法和程序
公开(公告)号：US07499892B2
公开(公告)日：2009-03-03
申请号：US11397299
申请日：2006-04-04
申请人： Kazumi Aoyama , Katsuki Minamino , Hideki Shimomura
发明人： Kazumi Aoyama , Katsuki Minamino , Hideki Shimomura
IPC分类号： G06E1/00 , G06E3/00 , G06F15/18 , G06G7/00 , G10L15/00 , G10L15/16 , G10L15/06 , G10L15/04
CPC分类号： G06N3/08 , G10L15/26
摘要： An information processing apparatus includes a first learning unit adapted to learn a first SOM (self-organization map), based on a first parameter extracted from an observed value, a winner node determination unit adapted to determine a winner node on the first SOM, a searching unit adapted to search for a generation node on a second SOM having highest connection strength with the winner node, a parameter generation unit adapted to generate a second parameter from the generation node, a modification unit adapted to modify the second parameter generated from the generation node, a first connection weight modification unit adapted to modify the connection weight when end condition is satisfied, a second connection weight modification unit adapted to modify the connection weight depending on evaluation made by a user, and a second learning unit adapted to learn the second SOM based on the second parameter obtained when the end condition is satisfied.
摘要翻译：信息处理装置包括：第一学习单元，适于基于从观测值提取的第一参数来学习第一SOM（自组织映射），优胜者节点确定单元，适于确定第一SOM上的胜利者节点; 搜索单元，适于在与所述胜利者节点具有最高连接强度的第二SOM上搜索生成节点;参数生成单元，适于从所述生成节点生成第二参数;修改单元，适于修改从所述生成节点生成的所述第二参数节点，适于在满足结束条件时修改连接权重的第一连接权重修改单元，适于根据用户进行的评估来修改连接权重的第二连接权重修改单元，以及适于学习第二连接权重修改单元的第二学习单元基于在满足结束条件时获得的第二参数的SOM。

8. 发明申请

US20060230140A1 Information processing apparatus, information processing method, and program 失效
公开(公告)号：US20060230140A1
公开(公告)日：2006-10-12
申请号：US11397299
申请日：2006-04-04
申请人： Kazumi Aoyama , Katsuki Minamino , Hideki Shimomura
发明人： Kazumi Aoyama , Katsuki Minamino , Hideki Shimomura
IPC分类号： G06F15/173
CPC分类号： G06N3/08 , G10L15/26
摘要： An information processing apparatus includes a first learning unit adapted to learn a first SOM (self-organization map), based on a first parameter extracted from an observed value, a winner node determination unit adapted to determine a winner node on the first SOM, a searching unit adapted to search for a generation node on a second SOM having highest connection strength with the winner node, a parameter generation unit adapted to generate a second parameter from the generation node, a modification unit adapted to modify the second parameter generated from the generation node, a first connection weight modification unit adapted to modify the connection weight when end condition is satisfied, a second connection weight modification unit adapted to modify the connection weight depending on evaluation made by a user, and a second learning unit adapted to learn the second SOM based on the second parameter obtained when the end condition is satisfied.

9. 发明授权

US07346595B2 Method and apparatus for learning data, method and apparatus for generating data, and computer program 失效
标题翻译：用于学习数据的方法和装置，用于生成数据的方法和装置以及计算机程序
公开(公告)号：US07346595B2
公开(公告)日：2008-03-18
申请号：US11396836
申请日：2006-04-03
申请人： Kazumi Aoyama , Katsuki Minamino , Hideki Shimomura
发明人： Kazumi Aoyama , Katsuki Minamino , Hideki Shimomura
IPC分类号： G06F15/18 , G06F17/30
CPC分类号： G05D1/0221 , Y10S707/99935 , Y10S707/99936
摘要： A learning apparatus for learning time series data in a link model including a plurality of input time series pattern storage networks and a plurality of output time series pattern storage networks with nodes of the input time series pattern storage networks linked to nodes of the output time series pattern storage networks, includes a learning unit for updating in a self-organizing manner each of the plurality of input time series pattern storage networks and updating in a self-organizing manner each of the plurality of output time series pattern storage networks and a link relationship updating unit for updating a link relationship between each node of the output time series pattern storage network and an input winner node, and updating a link relationship between each node of the input time series pattern storage network and an output winner node.
摘要翻译：一种用于在包括多个输入时间序列模式存储网络和多个输出时间序列模式存储网络的链路模型中学习时间序列数据的学习装置，其具有链接到输出时间序列的节点的输入时间序列模式存储网络的节点模式存储网络包括学习单元，用于以多个输入时间序列模式存储网络中的每一个以自组织方式更新，并且以自组织方式更新多个输出时间序列模式存储网络中的每一个以及链接关系更新单元，用于更新输出时间序列模式存储网络的每个节点与输入胜利者节点之间的链路关系，并且更新输入时间序列模式存储网络的每个节点与输出获胜者节点之间的链路关系。

10. 发明授权

US07296005B2 Method and apparatus for learning data, method and apparatus for recognizing data, method and apparatus for generating data, and computer program 有权
标题翻译：用于学习数据的方法和装置，用于识别数据的方法和装置，用于生成数据的方法和装置以及计算机程序
公开(公告)号：US07296005B2
公开(公告)日：2007-11-13
申请号：US11294696
申请日：2005-12-05
申请人： Katsuki Minamino , Kazumi Aoyama , Hideki Shimomura
发明人： Katsuki Minamino , Kazumi Aoyama , Hideki Shimomura
IPC分类号： G06F15/00
CPC分类号： G10L15/144
摘要： A learning apparatus for learning time series data, includes a learning unit for updating, in a self-organizing manner based on an observed value of the time series data, a time series pattern storage network including a plurality of nodes, each node having a time series pattern model representing a time series pattern of the time series data.
摘要翻译：一种用于学习时间序列数据的学习装置，包括学习单元，用于基于时间序列数据的观测值以自组织的方式更新包括多个节点的时间序列模式存储网络，每个节点具有时间代表时间序列数据的时间序列模式的系列模式模型。

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