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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

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。

5. 发明授权

US06534943B1 Robot device and learning method of robot device 失效
标题翻译：机器人装置和机器人装置的学习方法
公开(公告)号：US06534943B1
公开(公告)日：2003-03-18
申请号：US09694957
申请日：2000-10-24
申请人： Gregory Hornby , Seiichi Takamura , Masahiro Fujita , Takashi Yamamoto , Osamu Hanagata , Jun Yokono
发明人： Gregory Hornby , Seiichi Takamura , Masahiro Fujita , Takashi Yamamoto , Osamu Hanagata , Jun Yokono
IPC分类号： B25J500
CPC分类号： B62D57/032
摘要： A walking-type robot device and its learning method are disclosed, wherein the robot device is caused to perform walking that accords with the parameters for controlling the walking, the walking is evaluated, and the parameters are updated so that the very evaluation is enhanced. Besides, a walking-type robot device is provided with a controlling means for controlling the robot so as to cause it to perform walking that accords with parameters which prescribe the driving phase of each leg of the time of walking, an evaluating means for evaluating the velocity of the walking, and a parameter updating means for updating the parameters so that the evaluation of the walking by the evaluating means is enhanced.
摘要翻译：公开了一种行走式机器人装置及其学习方法，其中使机器人装置进行符合用于控制步行的参数的行走，评估行走，并更新参数，从而提高了非常的评价。此外，步行式机器人装置设置有用于控制机器人的控制装置，以便使其根据规定行走时间的每条腿的驱动相位的参数执行步行，一个评估装置行走速度，以及用于更新参数的参数更新装置，从而增强了评估装置的行走评估。

6. 发明授权

US06865446B2 Robot device and method of controlling robot device operation 失效
标题翻译：机器人装置及控制机器人装置操作的方法
公开(公告)号：US06865446B2
公开(公告)日：2005-03-08
申请号：US10258152
申请日：2002-02-21
申请人： Jun Yokono , Masahiro Fujita , Vincent Hugel
发明人： Jun Yokono , Masahiro Fujita , Vincent Hugel
IPC分类号： A63H11/00 , B25J5/00 , B25J9/16 , B25J13/00 , B25J13/08 , G01L5/00 , G05B19/00
CPC分类号： B25J9/1633
摘要： A robot apparatus is provided which includes body portions such as a head block (4), leg blocks (3A to 3D), an actuator (25) to actuate the body portions and a CPU (10) to supply a control signal to the actuator (25). In this apparatus, information about an external force applied to the apparatus, such as the position, magnitude, direction, etc. of the external force, is computed on the basis of changes of the control signal supplied from the CPU (10) to drive the actuator (25) and a signal supplied as a response to the CPU (10) when the actuator (25) is driven. The external force information is supplied to the CPU (10) and used as information for selection of a behavior and emotion of the robot apparatus and the next behavior of the apparatus. Thus, in the robot apparatus, since the external force information is computed on the basis of an output from the CPU (10) and outputs from the actuator (25) and a potentiometer (26), so an external force can be detected by the use of existing devices and no dedicated sensors have to be additionally provided.
摘要翻译：提供了一种机器人装置，其包括主体部分，例如头部块（4），腿部块（3A至3D），用于致动主体部分的致动器（25）和用于向致动器提供控制信号的CPU（10）（25）。在该装置中，基于从CPU（10）提供到驱动器的控制信号的变化来计算关于施加到装置的外力（例如外力的位置，大小，方向等）的信息致动器（25）和当致动器（25）被驱动时作为对CPU（10）的响应而提供的信号。外部力信息被提供给CPU（10）并且用作用于选择机器人装置的行为和情感的信息以及装置的下一个行为。因此，在机器人装置中，由于基于来自CPU（10）的输出并且从致动器（25）和电位计（26）输出的外力信息被计算，所以可以通过必须另外提供现有设备的使用和专用的传感器。

7. 发明申请

US20130142392A1 INFORMATION PROCESSING DEVICE AND METHOD, PROGRAM, AND RECORDING MEDIUM 审中-公开
标题翻译：信息处理设备和方法，程序和记录介质
公开(公告)号：US20130142392A1
公开(公告)日：2013-06-06
申请号：US13756977
申请日：2013-02-01
申请人： Keisuke Yamaoka , Jun Yokono
发明人： Keisuke Yamaoka , Jun Yokono
IPC分类号： G06F3/01
CPC分类号： G06F3/017 , A63F13/40 , G06F3/005 , G06F3/011 , G06F3/0304 , G06K9/00342 , G06K9/00369 , H04N5/222 , H04N5/2224
摘要： An information processing device includes: an outline extraction unit extracting an outline of a subject from a picked-up image of the subject; a characteristic amount extraction unit extracting a characteristic amount, by extracting sample points from points making up the outline, for each of the sample points; an estimation unit estimating a posture of a high degree of matching as a posture of the subject by calculating a degree of the characteristic amount extracted in the characteristic amount extraction unit being matched with each of a plurality of characteristic amounts that are prepared in advance and represent predetermined postures different from each other; and a determination unit determining accuracy of estimation by the estimation unit using a matching cost when the estimation unit carries out the estimation.
摘要翻译：一种信息处理装置，包括：轮廓提取单元，从被摄体的拍摄图像中提取被检体的轮廓; 特征量提取单元，对于每个采样点，通过从构成轮廓的点提取采样点来提取特征量; 估计单元，通过计算在特征量提取单元中提取的特征量的程度与预先准备的表示的多个特征量中的每一个相匹配来估计高度匹配的姿势作为对象的姿势预定姿势彼此不同; 以及确定单元，当估计单元执行估计时，使用匹配成本确定估计单元的估计精度。

8. 发明授权

US08345976B2 Systems and methods for segmenting digital images 有权
标题翻译：用于分割数字图像的系统和方法
公开(公告)号：US08345976B2
公开(公告)日：2013-01-01
申请号：US12852096
申请日：2010-08-06
申请人： Su Wang , Shengyang Dai , Akira Nakamura , Takeshi Ohashi , Jun Yokono
发明人： Su Wang , Shengyang Dai , Akira Nakamura , Takeshi Ohashi , Jun Yokono
IPC分类号： G06K9/34
CPC分类号： G06K9/6256 , G06K9/0014 , G06T7/0012 , G06T7/11 , G06T7/136 , G06T7/187 , G06T2207/30024
摘要： Methods and systems disclosed herein provide the capability to automatically process digital pathology images quickly and accurately. According to one embodiment, an digital pathology image segmentation task may be divided into at least two parts. An image segmentation task may be carried out utilizing both bottom-up analysis to capture local definition of features and top-down analysis to use global information to eliminate false positives. In some embodiments, an image segmentation task is carried out using a “pseudo-bootstrapping” iterative technique to produce superior segmentation results. In some embodiments, the superior segmentation results produced by the pseudo-bootstrapping method are used as input in a second segmentation task that uses a combination of bottom-up and top-down analysis.
摘要翻译：本文公开的方法和系统提供了快速且准确地自动处理数字病理图像的能力。根据一个实施例，数字病理图像分割任务可以被划分为至少两部分。图像分割任务可以利用自下而上的分析来捕获特征的局部定义和自上而下的分析，以使用全局信息来消除假阳性。在一些实施例中，使用伪自举迭代技术来执行图像分割任务以产生优异的分割结果。在一些实施例中，通过伪自举方法产生的优越分割结果被用作使用自下而上和自顶向下分析的组合的第二分段任务中的输入。

9. 发明申请

US20120076428A1 INFORMATION PROCESSING DEVICE, INFORMATION PROCESSING METHOD, AND PROGRAM 有权
标题翻译：信息处理设备，信息处理方法和程序
公开(公告)号：US20120076428A1
公开(公告)日：2012-03-29
申请号：US13233351
申请日：2011-09-15
申请人： Jun Yokono , Takuya Narihira
发明人： Jun Yokono , Takuya Narihira
IPC分类号： G06K9/68
CPC分类号： G06K9/00382 , G06K9/00389
摘要： An information processing device includes: a recognizer configured to recognize a predetermined part of a body of a person from an input image including the person; an evaluator configured to evaluate a difference between a recognized input part and a reference part serving as a basis; and a notifying unit configured to notify information relating to the difference of the input part from the reference part based on an evaluation result.
摘要翻译：信息处理设备包括：识别器，被配置为从包括人的输入图像识别人的身体的预定部分; 评估器，被配置为评估识别的输入部分和用作基准的参考部分之间的差异; 以及通知单元，其被配置为基于评估结果来通知与所述参考部分的所述输入部分的差异有关的信息。

10. 发明申请

US20090060290A1 FACE IMAGE PROCESSING APPARATUS, FACE IMAGE PROCESSING METHOD, AND COMPUTER PROGRAM 失效
标题翻译：面部图像处理设备，脸部图像处理方法和计算机程序
公开(公告)号：US20090060290A1
公开(公告)日：2009-03-05
申请号：US12191610
申请日：2008-08-14
申请人： Kohtaro SABE , Atsushi Okubo , Jun Yokono
发明人： Kohtaro SABE , Atsushi Okubo , Jun Yokono
IPC分类号： G06K9/00
CPC分类号： G06K9/00248
摘要： A face image processing apparatus selects feature points and feature for identifying a person through statistical learning. The apparatus includes input means for inputting a face image detected by arbitrary face detection means, face parts detection means for detecting the positions of face parts in several locations from the input face image, face pose estimation means for estimating face pose based on the detected positions of face parts, feature point position correcting means for correcting the position of each feature point used for identifying the person based on the result of estimation of face pose by the face pose estimation means, and face identifying means for identifying the person by calculating a feature of the input face image at each feature point after position correction is performed by the feature point position correcting means and checking the feature against a feature of a registered face.
摘要翻译：面部图像处理装置通过统计学习选择特征点和特征来识别人。该装置包括用于输入由任意面部检测装置检测到的面部图像的输入装置，用于从输入面部图像检测几个位置中的面部部分的位置的面部部位检测装置，基于检测位置估计面部姿势的面部姿势估计装置特征点位置校正装置，用于根据面部姿势估计装置的面部姿势的估计结果校正用于识别人的每个特征点的位置，以及面部识别装置，用于通过计算特征来识别人物通过特征点位置校正装置执行位置校正之后的每个特征点处的输入面部图像，并针对登记面部的特征检查特征。

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