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1. 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。

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。

4. 发明授权

US06728598B2 Arithmetic processing device, inter-object communication method, and robot 有权
标题翻译：算术处理装置，对象间通信方法和机器人
公开(公告)号：US06728598B2
公开(公告)日：2004-04-27
申请号：US10305692
申请日：2002-11-27
申请人： Masahiro Fujita , Takayuki Sakamoto , Kotaro Sabe , Tsuyoshi Takagi
发明人： Masahiro Fujita , Takayuki Sakamoto , Kotaro Sabe , Tsuyoshi Takagi
IPC分类号： G06F1900
CPC分类号： G05B19/0426 , G05B2219/23312 , G05B2219/23389 , G05B2219/23432 , G05B2219/32137 , G05B2219/32161 , G05B2219/33105 , G05B2219/33125 , G05B2219/40304 , Y02P90/16 , Y02P90/185 , Y02P90/265 , Y10S707/99934 , Y10T74/20317
摘要： An arithmetic processing device for inter-object data communication has an object manager for connecting objects so as to enable exchange of data between the objects, and a connection data supplying unit for supplying the object manager with connection data necessary for achieving the connection between the objects. Disclosed also are an inter-object communication method and a robot incorporating the arithmetic processing device. The robot may be designed to enable a user to replace parts thereof, thus changing the robot configuration. The robot preferably includes a part detection unit for detecting parts attached to the robot, and outputting a part detection result in accordance with the detection. An information storage unit stores information corresponding to the part detection result for each configuration obtained by replacement of the parts. A software changing unit revises robot-controlling software in correspondence with a changed configuration, based on a comparison of the part detection result with the information stored in the information storage unit. A controller controls general robot operations in accordance with the revised software.
摘要翻译：用于对象间数据通信的算术处理装置具有用于连接对象的对象管理器，以便能够在对象之间交换数据;以及连接数据提供单元，用于向对象管理器提供实现对象之间的连接所必需的连接数据。还公开了一种对象间通信方法和结合有算术处理装置的机器人。机器人可以被设计成使得用户能够替换其部件，从而改变机器人配置。机器人优选地包括用于检测附接到机器人的部件的部件检测单元，并且根据检测输出部件检测结果。信息存储单元存储与通过更换部件获得的每个配置的部件检测结果相对应的信息。基于部件检测结果与存储在信息存储单元中的信息的比较，软件更换单元根据改变的配置来修改机器人控制软件。控制器根据修订的软件控制一般的机器人操作。

5. 发明授权

US07853357B2 Robot behavior control based on current and predictive internal, external condition and states with levels of activations 失效
标题翻译：基于当前和预测内部，外部条件和状态与激活水平的机器人行为控制
公开(公告)号：US07853357B2
公开(公告)日：2010-12-14
申请号：US10547922
申请日：2004-03-09
申请人： Tsutomu Sawada , Masahiro Fujita , Tsuyoshi Takagi
发明人： Tsutomu Sawada , Masahiro Fujita , Tsuyoshi Takagi
IPC分类号： G05B13/02
CPC分类号： B25J13/00 , G06N3/008
摘要： In a robot device, an action selecting/control system includes a plurality of elementary action modules each of which outputs an action when selected. An activation level calculation unit calculates an activation level AL of each elementary action on the basis of information from an internal-state manager and external-stimulus recognition unit and with reference to a data base. An action selector selects an elementary action whose activation level AL is highest as an action to be implemented. Each action is associated with a predetermined internal state and external stimulus. The activation level calculation unit calculates an activation level AL of each action on the basis of a predicted satisfaction level variation based on the level of an instinct for an action corresponding to an input internal state and a predicted internal-state variation predictable based on an input external stimulus.
摘要翻译：在机器人装置中，动作选择/控制系统包括多个基本动作模块，每个基本动作模块在选择时输出动作。激活电平计算单元基于来自内部状态管理器和外部刺激识别单元的信息并参考数据库来计算每个基本动作的激活电平AL。动作选择器选择其激活电平AL最高的基本动作作为要实现的动作。每个动作与预定的内部状态和外部刺激相关联。激活电平计算单元基于基于与输入内部状态相对应的动作的本能的电平和基于输入可预测的预测内部状态变化，基于预测的满足度变化来计算每个动作的激活水平AL 外部刺激。

6. 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。

7. 发明申请

US20060184273A1 Robot device, Behavior control method thereof, and program 失效
标题翻译：机器人装置，其行为控制方法和程序
公开(公告)号：US20060184273A1
公开(公告)日：2006-08-17
申请号：US10547922
申请日：2004-03-09
申请人： Tsutomu Sawada , Masahiro Fujita , Tsuyoshi Takagi
发明人： Tsutomu Sawada , Masahiro Fujita , Tsuyoshi Takagi
IPC分类号： G06F19/00
CPC分类号： B25J13/00 , G06N3/008
摘要： In a robot device, an action selecting/control system (100) includes a plurality of elementary action modules each of which outputs an action when selected, an activation level calculation unit (120) to calculate an activation level AL of each elementary action on the basis of information from an internal-state manager (91) and external-stimulus recognition unit (80) and with reference to a data base, and an action selector (130) to select an elementary action whose activation level AL is highest as an action to be implemented. Each action is associated with a predetermined internal state and external stimulus. The activation level calculation unit (120) calculates an activation level AL of each action on the basis of a predicted satisfaction0level variation based on the level of an instinct for an action corresponding to an input internal state and a predicted internal-state variation predictable based on an input external stimulus.
摘要翻译：在机器人设备中，动作选择/控制系统（100）包括多个基本动作模块，每个基本动作模块在选择时输出动作;激活水平计算单元（120），用于计算每个基本动作的激活水平AL 来自内部状态管理器（91）和外部刺激识别单元（80）并参考数据库的信息的基础;以及动作选择器（130），其选择激活水平AL最高的基本动作作为动作将要执行。每个动作与预定的内部状态和外部刺激相关联。激活级别计算单元（120）基于基于与输入内部状态相对应的动作的本能的级别和基于可预测的预测内部状态变化，基于预测的满足度水平变化来计算每个动作的激活水平AL 输入外部刺激。

8. 发明申请

US20050080514A1 Content providing system 审中-公开
标题翻译：内容提供系统
公开(公告)号：US20050080514A1
公开(公告)日：2005-04-14
申请号：US10921208
申请日：2004-08-19
申请人： Masanori Omote , Kazumi Aoyama , Tsuyoshi Takagi , Masahiro Fujita
发明人： Masanori Omote , Kazumi Aoyama , Tsuyoshi Takagi , Masahiro Fujita
IPC分类号： A63H11/00 , B25J19/00 , G06F9/445 , G06N3/00 , G06F19/00
CPC分类号： G06N3/008
摘要： In requesting content, a robot transmits a QA form containing robot information, such as the hardware configuration of the robot, to a server. The server detects the content adapted to the hardware configuration or platform of the robot in the QA form, and provides the detected content to the robot.
摘要翻译：在请求内容中，机器人将包含机器人信息（例如机器人的硬件配置）的QA表单发送到服务器。服务器以QA形式检测适应于机器人的硬件配置或平台的内容，并将检测到的内容提供给机器人。

9. 发明授权

US06816753B2 Robot control system and robot control method 有权
标题翻译：机器人控制系统和机器人控制方法
公开(公告)号：US06816753B2
公开(公告)日：2004-11-09
申请号：US10168993
申请日：2002-12-16
申请人： Takayuki Sakamoto , Makoto Inoue , Naoyasu Hosonuma , Tsuyoshi Takagi , Masahiro Fujita
发明人： Takayuki Sakamoto , Makoto Inoue , Naoyasu Hosonuma , Tsuyoshi Takagi , Masahiro Fujita
IPC分类号： G06F1900
CPC分类号： G06N3/008 , G05B2219/40304 , Y10S707/99943
摘要： To control articulated robots by dynamically modifying a combination of a hardware-dependent middleware layer and a hardware-independent application layer. An interface and a database for semantically performing operation are prepared between a middleware layer which depends upon the hardware configuration of a robot and an application layer which does not depend upon the hardware configuration, thereby making it possible to always guarantee normal operation even if a combination of the middleware and the application which is to be introduced onto the robot is modified. The application can acquire appropriate input data via the middleware, and can issue an appropriate command.
摘要翻译：通过动态修改硬件依赖中间件层和与硬件无关的应用层的组合来控制铰接机器人。在取决于机器人的硬件配置的中间件层和不依赖于硬件配置的应用层之间准备用于语义执行操作的接口和数据库，从而使得即使组合也可以始终保证正常操作的中间件和要引入到机器人上的应用程序被修改。应用程序可以通过中间件获取适当的输入数据，并可以发出适当的命令。

10. 发明授权

US06668211B1 Arithmetic processing device, object-to-object communication method and robot 有权
标题翻译：算术处理装置，对象通信方法和机器人
公开(公告)号：US06668211B1
公开(公告)日：2003-12-23
申请号：US09623972
申请日：2000-10-23
申请人： Masahiro Fujita , Takayuki Sakamoto , Kotaro Sabe , Tsuyoshi Takagi
发明人： Masahiro Fujita , Takayuki Sakamoto , Kotaro Sabe , Tsuyoshi Takagi
IPC分类号： G06F1900
CPC分类号： G05B19/0426 , G05B2219/23312 , G05B2219/23389 , G05B2219/23432 , G05B2219/32137 , G05B2219/32161 , G05B2219/33105 , G05B2219/33125 , G05B2219/40304 , Y02P90/16 , Y02P90/185 , Y02P90/265 , Y10S707/99934 , Y10T74/20317
摘要： An arithmetic processing device, an object-to-object communication method and a robot, such as an entertainment robot, in which software suited to a current robot configuration is set. The software is changed corresponding to the configuration based on a comparison result of information corresponding to a component detection result stored for each configuration and a component detection result associated with the current configuration. Objects are connected so that data can be exchanged based on the connection data.
摘要翻译：设置了适用于当前机器人结构的软件的算术处理装置，对象通信方法和诸如娱乐机器人的机器人。基于与针对每个配置存储的组件检测结果相对应的信息的比较结果和与当前配置相关联的组件检测结果，对应于配置改变软件。连接对象可以根据连接数据交换数据。

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