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1. 发明申请

US20110238213A1 GRIPPING JUDGMENT APPARATUS AND GRIPPING JUDGMENT METHOD 有权
标题翻译：拖运裁判设备和拖车裁判方法
公开(公告)号：US20110238213A1
公开(公告)日：2011-09-29
申请号：US13023797
申请日：2011-02-09
申请人： Kenichiro Nagasaka , Toshimitsu Tsuboi , Atsushi Miyamoto , Yasunori Kawanami , Tetsuharu Fukushima , Kenta Kawamoto
发明人： Kenichiro Nagasaka , Toshimitsu Tsuboi , Atsushi Miyamoto , Yasunori Kawanami , Tetsuharu Fukushima , Kenta Kawamoto
IPC分类号： B25J13/08
CPC分类号： B25J9/1612
摘要： There is provided a gripping judgment apparatus including a plan unit that generates a target orbit for moving a gripping unit in a state in which an object as a gripping target is gripped by the gripping unit, an observation unit that measures movement of the gripping unit driven based on the target orbit, a gripping state judgment unit that judges whether or not an object as a gripping target is grippable based on a target value of the gripping unit derived from the target orbit and an actual measured value measured by the observation unit, and a gripping state change unit that changes a gripping state of an object gripped by the gripping unit based on a judgment result obtained by the gripping state judgment unit.
摘要翻译：提供了一种夹持判断装置，包括：平面单元，其在作为夹持目标的物体被夹持单元夹持的状态下产生用于移动夹持单元的目标轨道;观察单元，其测量夹持单元驱动的运动基于所述目标轨道的夹持状态判断单元，基于来自所述目标轨道的所述夹持单元的目标值和由所述观测单元测量的实际测量值，判断作为夹持目标的物体是否可抓握，以及夹持状态改变单元，其基于由夹持状态判断单元获得的判断结果，改变由夹持单元夹持的物体的夹持状态。

2. 发明申请

US20110234758A1 ROBOT DEVICE AND METHOD OF CONTROLLING ROBOT DEVICE 有权
标题翻译：机器人装置和控制机器人装置的方法
公开(公告)号：US20110234758A1
公开(公告)日：2011-09-29
申请号：US13070066
申请日：2011-03-23
申请人： Toshimitsu TSUBOI , Kenta Kawamoto , Yasunori Kawanami , Atsushi Miyamoto
发明人： Toshimitsu TSUBOI , Kenta Kawamoto , Yasunori Kawanami , Atsushi Miyamoto
IPC分类号： H04N13/02
CPC分类号： H04N13/254
摘要： There is provided a robot device including an irradiation unit that irradiates pattern light to an external environment, an imaging unit that acquires an image by imaging the external environment, an external environment recognition unit that recognizes the external environment, an irradiation determining unit that controls the irradiation unit to be turned on when it is determined that irradiation of the pattern light is necessary based on an acquisition status of the image, and a light-off determining unit that controls the irradiation unit to be turned off when it is determined that irradiation of the pattern light is unnecessary or that irradiation of the pattern light is necessary to be forcibly stopped, based on the external environment.
摘要翻译：提供了一种机器人装置，其包括：将图案光照射到外部环境的照射单元，通过对外部环境进行摄像而获取图像的摄像单元，识别外部环境的外部环境识别单元，照射判定单元，基于图像的获取状态确定需要照射图案光的照射单元，以及当确定照射单元被照射时控制照射单元被关闭的点灯确定单元基于外部环境，不需要图案光或者模式光的照射被强制停止。

3. 发明授权

US08725296B2 Gripping judgment apparatus and gripping judgment method 有权
标题翻译：抓握判断装置和夹紧判断方法
公开(公告)号：US08725296B2
公开(公告)日：2014-05-13
申请号：US13023797
申请日：2011-02-09
申请人： Kenichiro Nagasaka , Toshimitsu Tsuboi , Atsushi Miyamoto , Yasunori Kawanami , Tetsuharu Fukushima , Kenta Kawamoto
发明人： Kenichiro Nagasaka , Toshimitsu Tsuboi , Atsushi Miyamoto , Yasunori Kawanami , Tetsuharu Fukushima , Kenta Kawamoto
IPC分类号： B25J13/08 , B25J15/08
CPC分类号： B25J9/1612
摘要： There is provided a gripping judgment apparatus including a plan unit that generates a target orbit for moving a gripping unit in a state in which an object as a gripping target is gripped by the gripping unit, an observation unit that measures movement of the gripping unit driven based on the target orbit, a gripping state judgment unit that judges whether or not an object as a gripping target is grippable based on a target value of the gripping unit derived from the target orbit and an actual measured value measured by the observation unit, and a gripping state change unit that changes a gripping state of an object gripped by the gripping unit based on a judgment result obtained by the gripping state judgment unit.
摘要翻译：提供了一种夹持判断装置，包括：平面单元，其在作为夹持目标的物体被夹持单元夹持的状态下产生用于移动夹持单元的目标轨道;观察单元，其测量夹持单元驱动的运动基于所述目标轨道的夹持状态判断单元，基于来自所述目标轨道的所述夹持单元的目标值和由所述观测单元测量的实际测量值，判断作为夹持目标的物体是否可抓握，以及夹持状态改变单元，其基于由夹持状态判断单元获得的判断结果，改变由夹持单元夹持的物体的夹持状态。

4. 发明申请

US20120048628A1 TORQUE DETECTION APPARATUS AND ROBOT APPARATUS 审中-公开
标题翻译：扭矩检测装置和机器人装置
公开(公告)号：US20120048628A1
公开(公告)日：2012-03-01
申请号：US13181741
申请日：2011-07-13
申请人： Yasunori KAWANAMI , Atsushi Miyamoto , Toshimitsu Tsuboi , Tetsuharu Fukushima , Kenta Kawamoto , Yasuhide Hosoda
发明人： Yasunori KAWANAMI , Atsushi Miyamoto , Toshimitsu Tsuboi , Tetsuharu Fukushima , Kenta Kawamoto , Yasuhide Hosoda
IPC分类号： B25J5/00 , B25J19/02 , G01L3/10
CPC分类号： B25J13/085 , B25J9/0003 , G01L3/1428
摘要： Provided is a torque detection apparatus including a base portion, a drive portion, and a detection portion. The drive portion includes a rotor having a main axis in a direction of a first axis, and a stator configured to rotate the rotor around the main axis. The detection portion includes a strain body and a detection element. The strain body includes a first end portion to be fixed to the base portion and a second end portion to be fixed to the rotor, and is arranged concentrically with the rotor. The detection element is provided to the strain body so as to detect a strain of the strain body around the first axis with respect to the base portion.
摘要翻译：提供一种扭矩检测装置，其包括基部，驱动部和检测部。驱动部分包括具有沿第一轴方向的主轴线的转子和构造成围绕主轴线旋转转子的定子。检测部包括应变体和检测元件。应变体包括固定到基部的第一端部和固定到转子的第二端部，并且与转子同心地设置。将检测元件设置到应变体，以便相对于基部检测第一轴线周围的应变体的应变。

5. 发明授权

US08797385B2 Robot device and method of controlling robot device 有权
标题翻译：机器人装置和机器人装置的控制方法
公开(公告)号：US08797385B2
公开(公告)日：2014-08-05
申请号：US13070066
申请日：2011-03-23
申请人： Toshimitsu Tsuboi , Kenta Kawamoto , Yasunori Kawanami , Atsushi Miyamoto
发明人： Toshimitsu Tsuboi , Kenta Kawamoto , Yasunori Kawanami , Atsushi Miyamoto
IPC分类号： H04N13/02
CPC分类号： H04N13/254
摘要： There is provided a robot device including an irradiation unit that irradiates pattern light to an external environment, an imaging unit that acquires an image by imaging the external environment, an external environment recognition unit that recognizes the external environment, an irradiation determining unit that controls the irradiation unit to be turned on when it is determined that irradiation of the pattern light is necessary based on an acquisition status of the image, and a light-off determining unit that controls the irradiation unit to be turned off when it is determined that irradiation of the pattern light is unnecessary or that irradiation of the pattern light is necessary to be forcibly stopped, based on the external environment.
摘要翻译：提供了一种机器人装置，其包括：将图案光照射到外部环境的照射单元，通过对外部环境进行摄像而获取图像的摄像单元，识别外部环境的外部环境识别单元，照射判定单元，基于图像的获取状态确定需要照射图案光的照射单元，以及当确定照射单元被照射时控制照射单元被关闭的点灯确定单元基于外部环境，不需要图案光或者模式光的照射被强制停止。

6. 发明授权

US08880222B2 Robot device, method of controlling robot device, and program 有权
标题翻译：机器人装置，机器人装置的控制方法和程序
公开(公告)号：US08880222B2
公开(公告)日：2014-11-04
申请号：US13043897
申请日：2011-03-09
申请人： Kenta Kawamoto , Satoru Shimizu , Toshimitsu Tsuboi , Yasuhiro Suto
发明人： Kenta Kawamoto , Satoru Shimizu , Toshimitsu Tsuboi , Yasuhiro Suto
IPC分类号： G05B15/00 , G05B19/00 , B25J9/16
CPC分类号： B25J9/1664
摘要： There is provided a robot device including an instruction acquisition unit that acquires an order for encouraging a robot device to establish joint attention on a target from a user, a position/posture estimation unit that estimates a position and posture of an optical indication device, which is operated by the user to indicate the target by irradiation of a beam, in response to acquisition of the order, and a target specifying unit that specifies a direction of the target indicated by irradiation of the beam based on an estimation result of the position and posture and specifies the target on an environment map representing a surrounding environment based on a specifying result of the direction.
摘要翻译：提供了一种机器人装置，其包括：指示获取单元，其获取用于鼓励机器人装置从用户对目标建立共同关注的顺序;估计光学指示装置的位置和姿势的位置/姿势估计单元，由用户操作以响应于所述顺序的获取来指示所述目标的目标;以及目标指定单元，其基于所述位置的估计结果来指定所述射束指示的目标的方向，以及姿势，并基于方向的指定结果在表示周围环境的环境地图上指定目标。

7. 发明授权

US08527434B2 Information processing device, 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：US08527434B2
公开(公告)日：2013-09-03
申请号：US12791275
申请日：2010-06-01
申请人： Kuniaki Noda , Kohtaro Sabe , Yukiko Yoshiike , Kenta Kawamoto , Kenichi Hidai
发明人： Kuniaki Noda , Kohtaro Sabe , Yukiko Yoshiike , Kenta Kawamoto , Kenichi Hidai
IPC分类号： G06N5/00
CPC分类号： G06N3/006 , G06K9/00335 , G06K9/00664 , G06K9/6297
摘要： An information processing device includes: a learning section configured to learn a state transition probability model defined by state transition probability for each action of a state making a state transition due to an action performed by an agent capable of performing action and observation probability of a predetermined observed value being observed from the state, using an action performed by the agent and an observed value observed in the agent when the agent has performed the action.
摘要翻译：一种信息处理装置，包括：学习部，其被配置为：由于能够执行动作的代理和所述预定的行为的观察概率而进行的状态转换的状态的每个动作，学习由状态转移概率定义的状态转移概率模型观察到的值是从状态观察到的，使用由试剂进行的作用和在试剂进行作用时在试剂中观察到的观察值。

8. 发明申请

US20110288835A1 DATA PROCESSING DEVICE, DATA PROCESSING METHOD AND PROGRAM 审中-公开
标题翻译：数据处理设备，数据处理方法和程序
公开(公告)号：US20110288835A1
公开(公告)日：2011-11-24
申请号：US13106071
申请日：2011-05-12
申请人： Takashi Hasuo , Kenta Kawamoto
发明人： Takashi Hasuo , Kenta Kawamoto
IPC分类号： G06F17/10
CPC分类号： G06K9/6297
摘要： A data processing device includes a parameter estimation unit and a structure adjustment unit. The structure adjustment unit notes each state of an HMM as a noted state, obtains, for the noted state, a value corresponding to an eigen value difference which is a difference between a partial eigen value sum and a total eigen value sum, as a target degree value indicating a degree for selecting the noted state as a division target or a mergence target, selects a state having the target degree value larger than a division threshold value, as a division target, and selects a state having the target degree value smaller than a mergence threshold value, as a mergence target.
摘要翻译：数据处理装置包括参数估计单元和结构调整单元。结构调整单元将HMM的每个状态表示为所述状态，对于所述状态，获得与作为目标的部分特征值和和总本征值和之间的差的特征值差对应的值指示用于将所述状态选择为分割目标或合并目标的程度的度值选择具有大于分割阈值的目标度值的状态作为分割目标，并且选择目标度值小于合并阈值，作为合并目标。

9. 发明申请

US20100318479A1 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：US20100318479A1
公开(公告)日：2010-12-16
申请号：US12791275
申请日：2010-06-01
申请人： Kuniaki NODA , Kohtaro Sabe , Yukiko Yoshiike , Kenta Kawamoto , Kenichi Hidai
发明人： Kuniaki NODA , Kohtaro Sabe , Yukiko Yoshiike , Kenta Kawamoto , Kenichi Hidai
IPC分类号： G06F15/18 , G06N5/02
CPC分类号： G06N3/006 , G06K9/00335 , G06K9/00664 , G06K9/6297
摘要： An information processing device includes: a learning section configured to learn a state transition probability model defined by state transition probability for each action of a state making a state transition due to an action performed by an agent capable of performing action and observation probability of a predetermined observed value being observed from the state, using an action performed by the agent and an observed value observed in the agent when the agent has performed the action.
摘要翻译：一种信息处理装置，包括：学习部，其被配置为：由于能够执行动作的代理以及预定的行为的观察概率，进行状态转换的状态的状态转移概率而定义的状态转移概率模型观察到的值是从状态观察到的，使用由试剂进行的作用和在试剂进行作用时在试剂中观察到的观察值。

10. 发明授权

US07624076B2 Weak hypothesis generation apparatus and method, learning apparatus and method, detection apparatus and method, facial expression learning apparatus and method, facial expression recognition apparatus and method, and robot apparatus 有权
标题翻译：弱假设产生装置和方法，学习装置和方法，检测装置和方法，面部表情学习装置和方法，面部表情识别装置和方法以及机器人装置
公开(公告)号：US07624076B2
公开(公告)日：2009-11-24
申请号：US12074931
申请日：2008-03-07
申请人： Javier R. Movellan , Marian S. Bartlett , Gwendolen C. Littlewort , John Hershey , Ian R. Fasel , Eric C. Carlson , Josh Susskind , Kohtaro Sabe , Kenta Kawamoto , Kenichi Hidai
发明人： Javier R. Movellan , Marian S. Bartlett , Gwendolen C. Littlewort , John Hershey , Ian R. Fasel , Eric C. Carlson , Josh Susskind , Kohtaro Sabe , Kenta Kawamoto , Kenichi Hidai
IPC分类号： G06N5/00
CPC分类号： G06K9/00248 , G06K9/00308 , G06K9/6256 , G06N3/004
摘要： A facial expression recognition system that uses a face detection apparatus realizing efficient learning and high-speed detection processing based on ensemble learning when detecting an area representing a detection target and that is robust against shifts of face position included in images and capable of highly accurate expression recognition, and a learning method for the system, are provided. When learning data to be used by the face detection apparatus by Adaboost, processing to select high-performance weak hypotheses from all weak hypotheses, then generate new weak hypotheses from these high-performance weak hypotheses on the basis of statistical characteristics, and select one weak hypothesis having the highest discrimination performance from these weak hypotheses, is repeated to sequentially generate a weak hypothesis, and a final hypothesis is thus acquired. In detection, using an abort threshold value that has been learned in advance, whether provided data can be obviously judged as a non-face is determined every time one weak hypothesis outputs the result of discrimination. If it can be judged so, processing is aborted. A predetermined Gabor filter is selected from the detected face image by an Adaboost technique, and a support vector for only a feature quantity extracted by the selected filter is learned, thus performing expression recognition.
摘要翻译：一种面部表情识别系统，其使用面部检测装置，当检测到表示检测对象的区域时，基于整体学习实现有效的学习和高速检测处理，并且对于包括在图像中的面部位置的移动是鲁棒的，并且能够高度准确地表达识别和系统的学习方法。当通过Adaboost的面部检测装置学习数据时，从所有弱假设中选择高性能弱假设的处理，然后根据统计特征从这些高性能弱假设产生新的弱假设，并选择一个弱重复具有这些弱假设的最高判别性能的假设，以依次产生弱假设，从而获得最终假设。在检测中，使用预先学习的中止阈值，每当一个弱假设输出鉴别结果时，确定提供的数据是否可以被明确地判断为非面。如果可以判断，则处理中止。通过Adaboost技术从检测到的脸部图像中选择预定的Gabor滤波器，并且仅学习由所选择的滤波器提取的特征量的支持向量，从而执行表达式识别。

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