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1. 发明专利

JP2011221631A Robot self-position identification system 有权
标题翻译：机器人自动识别系统
公开(公告)号：JP2011221631A
公开(公告)日：2011-11-04
申请号：JP2010087682
申请日：2010-04-06
申请人： Advanced Telecommunication Research Institute International , 株式会社国際電気通信基礎技術研究所
发明人： DYLAN FAIRCHILD GLASS , KANDA TAKAYUKI
IPC分类号： G05D1/02 , B25J5/00 , B25J19/02
摘要： PROBLEM TO BE SOLVED: To provide a robot self-position identification that can easily identify a self-position of a robot 18 since the robot 18 can be associated with a substance (E) tracked by the tracking server 10.SOLUTION: A robot self-position identification system 100 comprises the tracking server 10 and the robot 18 connected via a network 400. The tracking server 10 tracks the substance (E) in a space, and the robot 18 outputs state data. The tracking server 10 stores state data and position data of the substance (E) in a buffer. The tracking server 10 associates the robot 18 with the substance (E) based on the plurality of position data and the plurality of state data stored in the buffer. The tracking server 10 transmits correction data to the robot 18 by using the substance (E) associated with the robot 18. The robot 18 corrects the self-position and angle based on the correction data transmitted by the tracking server 10.
摘要翻译：要解决的问题：提供可以容易地识别机器人18的自身位置的机器人自位置识别，因为机器人18可以与跟踪服务器10跟踪的物质（E）相关联。
解决方案：机器人自定位识别系统100包括经由网络400连接的跟踪服务器10和机器人18.跟踪服务器10跟踪空间中的物质（E），机器人18输出状态数据。跟踪服务器10将物质（E）的状态数据和位置数据存储在缓冲器中。跟踪服务器10基于存储在缓冲器中的多个位置数据和多个状态数据，将机器人18与物质（E）相关联。跟踪服务器10通过使用与机器人18相关联的物质（E）将校正数据发送到机器人18.机器人18基于由跟踪服务器10发送的校正数据来校正自身位置和角度。（C）2012，JPO＆INPIT

2. 发明专利

JP2011180660A Area-dividing device, area division program area division method and communication robot 有权
标题翻译：区域划分设备，区域划分方案区域方法和通信机器人
公开(公告)号：JP2011180660A
公开(公告)日：2011-09-15
申请号：JP2010041839
申请日：2010-02-26
申请人： Advanced Telecommunication Research Institute International , 株式会社国際電気通信基礎技術研究所
发明人： SATAKE SATOSHI , HATO YASUHIKO , KANDA TAKAYUKI
IPC分类号： G06T1/00 , B25J13/00 , G05D1/02
摘要： PROBLEM TO BE SOLVED: To provide an area-dividing device, an area division program, an area division method and a communication robot which extracts an area that can be transmitted to humans.
SOLUTION: A robot 10 includes a CPU 60, and the CPU 60 uses a grid map for extracting an area which is not in contact with an object, or extracting an area which is not in contact with not only the object but is also the pattern of a floor. The robot 10 selects one area corresponding to the request of a human being from among the extracted (divided) areas, and determines utterance content, and determines a gesture, according to the size of the selected area or positional relation with the selected area. Then, the robot 10 produces an utterance with relative language expressions set with respect to a directive or the specific object, and instructs the selected area to human being by executing a finger-pointing movement.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种区域划分装置，区域划分程序，区域划分方法和通信机器人，其提取可以发送给人的区域。解决方案：机器人10包括CPU60，并且CPU60使用网格图来提取与对象不接触的区域，或者提取不仅与对象不接触的区域也是地板的图案。机器人10从提取的（分割）区域中选择与人的请求对应的一个区域，并且根据所选择的区域的大小或与所选择的区域的位置关系来确定话语内容，并确定手势。然后，机器人10产生相对于指令或特定对象设置的相对语言表达的发音，并且通过执行手指指向运动来指示所选区域对人类。版权所有（C）2011，JPO＆INPIT

3. 发明专利

JP2008023604A Android control system 有权
标题翻译： ANDROID控制系统
公开(公告)号：JP2008023604A
公开(公告)日：2008-02-07
申请号：JP2006195163
申请日：2006-07-18
申请人： Advanced Telecommunication Research Institute International , 株式会社国際電気通信基礎技術研究所
发明人： ISHIGURO HIROSHI , NISHIO SHUICHI , MIYASHITA KEIKO , KANDA TAKAYUKI , MITSUNAGA NORIAKI , ISHII CARLOS TOSHINORI , HAGITA NORIHIRO
IPC分类号： B25J13/08 , A63H3/33 , A63H3/36 , A63H3/40 , A63H11/00
摘要： PROBLEM TO BE SOLVED: To provide a humanoid robot performing natural movements.
SOLUTION: This android control system 10 includes an android 12, and the android 12 is disposed at a certain place as a substitute as a person. Generally, the android 12 communicates such as having dialogues with a person according to the control of a control device 14. However, when the android 12 itself cannot correspond thereto, the android notifies it to a remote-operator accordingly. In that case, the android 12 is moved by the command by the remote operator. For example, when there is no person nearby or around, or when there is no command from the remote operator, the android executes an unconscious movement according to the control of the control device 14. That is to say, the android performs a physiological movement such as blinking or breathing, or executes a movement of doing a habit such as touching hair. As a result, this control system can attain the movement specific to the android such as the unconscious movement.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供执行自然运动的类人机器人。
解决方案：该Android控制系统10包括android 12，并且android 12被设置在某个地方作为人的替代。通常，android 12根据控制装置14的控制与人物进行通信。然而，当android 12本身不能与其对应时，android将相应地通知给遥控器。在这种情况下，android 12被远程操作员的命令移动。例如，当附近或周围没有人时，或者当远程操作者没有命令时，android根据控制装置14的控制执行无意识动作。也就是说，android执行生理运动例如眨眼或呼吸，或执行诸如触摸头发之类的习惯的运动。因此，该控制系统可以获得特定于android的运动，例如无意识运动。版权所有（C）2008，JPO＆INPIT

4. 发明专利

JP2007260822A Guide robot 审中-公开
标题翻译：指导机器人
公开(公告)号：JP2007260822A
公开(公告)日：2007-10-11
申请号：JP2006087645
申请日：2006-03-28
申请人： Advanced Telecommunication Research Institute International , 株式会社国際電気通信基礎技術研究所
发明人： SHIOMI MASAHIRO , KANDA TAKAYUKI , KOIZUMI TOMOHITO , ISHIGURO HIROSHI , HAGITA NORIHIRO
IPC分类号： B25J5/00 , B25J13/08
摘要： PROBLEM TO BE SOLVED: To provide a guide robot as a guide by guiding a human being along a route decided by considering visibility so as to pass through a path, where at least a following path is visible, in order. SOLUTION: This guide robot 10 comprises a guide data base storing information about paths for guide in consideration of visibility. The path is set in a point possible to be a transit point or a mark to get to a destination and a point where at least one other path is visible. When the robot 10 obtains the present position information and the destination information, the robot 10 guides the human being along the visible path showing a route passing through the paths where a following path is surely visible. When the robot 10 reaches the path comprised in the visible route during the guide of the human being, the robot 10 explains the way to the destination from the current path with voice and gesture. In the case wherein the human being understands the way to the destination with that explanation, guide is concluded at that point. Thus, it is unnecessary to guide the human being to the destination, the human being recognizes destination by being guided to the point where the destination is visible, at the best, and the guide is carried out efficiently. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：为了通过沿着通过考虑可见性决定的路线引导人以便通过至少可以看到的至少一个路径的路径来提供引导机器人作为引导。解决方案：该引导机器人10包括引导数据库，其存储关于可视性的引导的路径的信息。该路径被设置为可能成为到达目的地的过境点或标记，以及至少一个其他路径是可见的点。当机器人10获得当前位置信息和目的地信息时，机器人10沿着可视路径引导人，表示穿过路径的路线，其中路径可靠地看到。当机器人10在人的引导过程中到达包含在可见路径中的路径时，机器人10用语音和手势解释从当前路径到达目的地的路径。在人们通过该解释了解目的地的方式的情况下，在这一点上就得出结论。因此，没有必要最好地将人引导到目的地，人被识别的目的地被引导到目的地可见的地方，并且有效地执行引导。版权所有（C）2008，JPO＆INPIT

5. 发明专利

JP2007213190A Communication robot improvement system 有权
标题翻译：通信机器人改进系统
公开(公告)号：JP2007213190A
公开(公告)日：2007-08-23
申请号：JP2006030689
申请日：2006-02-08
申请人： Advanced Telecommunication Research Institute International , 株式会社国際電気通信基礎技術研究所
发明人： KANDA TAKAYUKI , KOIZUMI TOMOHITO , SHIOMI MASAHIRO , MITSUNAGA NORIAKI , MIYASHITA KEIKO , ISHIGURO HIROSHI
IPC分类号： G05D1/00 , G05D1/02
摘要： PROBLEM TO BE SOLVED: To provide a robot capable of efficiently and successively improving the control of motion in compliance with a scene. SOLUTION: This communication robot 12 combines autonomous control based on an autonomous control program and remote control by an operator to carry out a communication action with a human A. An operation terminal 14 stores information including information acquired from a sensor in a robot 12 and operation command information inputted to the operation terminal 14. The operation terminal 14 acquires information necessary for the generation of a new autonomous control program from the stored information in compliance with an input by an operator or automatically and transmits it to a development terminal 16 via a network 100. In the development terminal 16, the new autonomous control program for the robot 12 is generated based on the information transmitted from the operation terminal 14, and the program is transmitted to the robot 12. The robot 12 adds the received program to an existing autonomous control program. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够有效且连续地改善符合场景的运动控制的机器人。解决方案：该通信机器人12结合基于自主控制程序的自主控制和操作者的远程控制来执行与人A的通信动作。操作终端14将包括从传感器获取的信息的信息存储在机器人 12和输入到操作终端14的操作命令信息。操作终端14根据操作者的输入或自动地从所存储的信息获取生成新的自主控制程序所需的信息，并将其发送到开发终端16 在开发终端16中，基于从操作终端14发送的信息生成用于机器人12的新的自主控制程序，并且将程序发送到机器人12.机器人12将接收到的程序到现有的自主控制程序。版权所有（C）2007，JPO＆INPIT

6. 发明专利

JP2007199997A Dialog support system 有权
标题翻译：对话支持系统
公开(公告)号：JP2007199997A
公开(公告)日：2007-08-09
申请号：JP2006017512
申请日：2006-01-26
申请人： Advanced Telecommunication Research Institute International , 株式会社国際電気通信基礎技術研究所
发明人： MITSUNAGA NORIAKI , KANDA TAKAYUKI , KOIZUMI TOMOHITO , SHIOMI MASAHIRO , MIYASHITA KEIKO , YOSHIKAWA YUICHIRO , ISHIGURO HIROSHI
IPC分类号： G06F13/00 , H04M11/00
摘要： PROBLEM TO BE SOLVED: To provide a new dialog support system eliminating an alienation to activate a dialog.
SOLUTION: An operator OP operates a terminal device 18, and a user CS meets a robot 12. When the operator OP and the user CS have the dialog, dialog support information extracted from a database by a database server 16 is presented to the operator OP through the terminal device 18. A message given by the operator OP in reference to the dialog support information is transmitted to the user CS through the robot 12. A message given to the robot 12 by the user CS is transmitted to the operator OP through the terminal device 18. The operator refers to the dialog support information, and the user faces the robot, so that the active dialog on the initiative of the operator is materialized.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种新的对话框支持系统，消除异动以激活对话。解决方案：操作员OP操作终端设备18，并且用户CS与机器人12相遇。当操作者OP和用户CS具有对话时，呈现由数据库服务器16从数据库提取的对话支持信息操作者OP通过终端装置18.通过机器人12向用户CS发送由操作者OP参照对话支持信息给出的消息。用户CS向机器人12发送的消息被发送给操作者 OP通过终端设备18.操作者参考对话支持信息，并且用户面对机器人，从而实现操作者主动的主动对话。版权所有（C）2007，JPO＆INPIT

7. 发明专利

JP2007183332A Operation training device 审中-公开
标题翻译：操作培训装置
公开(公告)号：JP2007183332A
公开(公告)日：2007-07-19
申请号：JP2006000498
申请日：2006-01-05
申请人： Advanced Telecommunication Research Institute International , 株式会社国際電気通信基礎技術研究所
发明人： MITSUNAGA NORIAKI , KANDA TAKAYUKI , KOIZUMI TOMOHITO , SHIOMI MASAHIRO , MIYASHITA KEIKO , YOSHIKAWA YUICHIRO , ISHIGURO HIROSHI
IPC分类号： G09B9/00 , B25J13/06
摘要： PROBLEM TO BE SOLVED: To provide an operation training device for objectively and exactly evaluating student's skill in operation.
SOLUTION: A robot 20 moves in accordance with the operation of a teacher side joystick 12b. The real-time image of the robot 20 is displayed on a window in a monitor 14c for student ST. Guide information indicating the attitude of the teacher side joystick 12b and a student side joystick 14b is displayed in another window on the monitor 14c correlating with display processing of the real-time image of the robot 20. The proficiency of the student ST is calculated on the basis of the difference between attitudes of the teacher side joystick 12b and the student side joystick 14b. The calculated proficiency M is displayed on the monitor 14c and also transmitted to a teacher TC side communication terminal 12.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一个客观，准确地评估学生的操作技能的操作训练装置。解决方案：机器人20根据教师侧操纵杆12b的操作而移动。机器人20的实时图像显示在学生ST的监视器14c的窗口上。指示教师侧操纵杆12b和学生侧操纵杆14b的姿势的指示信息显示在与机器人20的实时图像的显示处理相关的监视器14c的另一窗口中。学生ST的熟练度计算为教师侧操纵杆12b与学生侧操纵杆14b的态度差异的基础。所计算的熟练度M显示在监视器14c上，并且还传送到教师TC侧通信终端12.版权所有：（C）2007，JPO＆INPIT

8. 发明专利

JP2006272537A Robot simulator and simulation program 审中-公开
标题翻译：机器人模拟器和仿真程序
公开(公告)号：JP2006272537A
公开(公告)日：2006-10-12
申请号：JP2005099602
申请日：2005-03-30
申请人： Advanced Telecommunication Research Institute International , 株式会社国際電気通信基礎技術研究所
发明人： KANDA TAKAYUKI , OSHIMA CHIKA , ISHIGURO HIROSHI
IPC分类号： B25J13/00 , G06N3/00
摘要： PROBLEM TO BE SOLVED: To provide a robot simulator and a simulation program enabling a developer to develop a robot off-line while saving extra time and labor.
SOLUTION: The robot simulator 100 includes a computer 102. The computer 102 displays a model of the robot on a touch screen 104. If the developer touches the model through the touch screen 104, the model reenacts communication action (reaction) previously made to correspond to the touched part. For example, if the head of the model is stroked, the model is displayed by animation so as to wave its hand after uttering "What?". By this way, it is possible to develop the robot off-line.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供机器人模拟器和模拟程序，使得开发者能够在离线的情况下开发机器人，同时节省额外的时间和劳动。机器人模拟器100包括计算机102.计算机102在触摸屏104上显示机器人的模型。如果显影器通过触摸屏104接触模型，则模型先前反映了通信动作（反应）对应于被触动的部分。例如，如果模型的头部被抚摸，则通过动画显示模型，以便在发出“什么？”之后挥手。通过这种方式，可以离线开发机器人。版权所有（C）2007，JPO＆INPIT

9. 发明专利

JP2006123153A Development support device and development support program for communication robot 审中-公开
标题翻译：开发支持设备和通信机器人的开发支持计划
公开(公告)号：JP2006123153A
公开(公告)日：2006-05-18
申请号：JP2004318496
申请日：2004-11-01
申请人： Advanced Telecommunication Research Institute International , 株式会社国際電気通信基礎技術研究所
发明人： KANDA TAKAYUKI , KOIDE YOSHIKAZU , KOGURE KIYOSHI , ISHIGURO HIROSHI
IPC分类号： B25J13/00 , B25J5/00 , B25J9/22
摘要： PROBLEM TO BE SOLVED: To easily detect the problem included in autonomous behavior of a robot, by reproducing interaction by visualizing the interaction thereafter. SOLUTION: This development support device for a communication robot extracts an interaction scene for satisfying a retrieval condition from interaction data for recording various sensor outputs, performed behavior and a result and a voice recognition result in the interaction between a human being and the communication robot for performing autonomous behavior; and reproduces its interaction on a scene display image screen 114 thereafter by visualizing a state, a history of the performed behavior, a result and the voice recognition result grasped on the basis of the various sensor outputs in its interaction scene; and switches a display in the scene display image screen 114 in response to time designation by a user. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：为了容易地检测包括在机器人的自主行为中的问题，通过再现通过可视化之后的交互来进行交互。解决方案：用于通信机器人的该开发支持设备从用于记录各种传感器输出，执行的行为和结果的交互数据提取用于满足检索条件的交互场景，以及人与人之间的相互作用中的语音识别结果用于执行自主行为的通信机器人; 并且通过可视化其交互场景中各种传感器输出所掌握的状态，执行行为的历史，结果和语音识别结果，再现场景显示图像屏幕114上的交互作用; 并且响应于用户的时间指定，在场景显示图像屏幕114中切换显示。版权所有（C）2006，JPO＆NCIPI

10. 发明专利

JP2006123136A Communication robot 审中-公开
标题翻译：通讯机器人
公开(公告)号：JP2006123136A
公开(公告)日：2006-05-18
申请号：JP2004317765
申请日：2004-11-01
申请人： Advanced Telecommunication Research Institute International , 株式会社国際電気通信基礎技術研究所
发明人： IWASE KAYOKO , KANDA TAKAYUKI , ISHIGURO HIROSHI , KOGURE KIYOSHI
IPC分类号： B25J13/00 , B25J5/00
摘要： PROBLEM TO BE SOLVED: To realize natural communication corresponding to emotion of a mate and further deep communication by an improvement in voice recognizing performance, by recognizing the emotion of the mate and a present state by urging an expression of the emotion easily dependable on the context, by removing tension of the mate.
SOLUTION: This communication robot recognizes the emotion by an expression (S27) by acquiring face image data (S25) when there is utterance of the mate, and recognizes the emotion on the basis of non-language information (S31) by acquiring utterance voice data (S29). The existence of the emotion of the tension hardly dependable on the context is determined on the basis of an emotion recognizing result (S35 and S37), and tension relieving behavior is performed when there is the tension (S43). The existence of the emotion easily dependable on the context such as joy and anger is determined on the basis of the emotion recognizing result when there is no tension. When recognizing the emotion, a recognizing word is determined by extracting a candidate corresponding to recognizing emotion from a voice recognizing result, to perform behavior corresponding to the recognizing emotion.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：通过提高语音识别性能来实现对应于伴侣情感的进一步深入交流的自然通信，通过通过激励情感的表达来容易地识别伴侣的情感和当前状态，从而可以容易地识别在这种情况下，通过消除伴侣的紧张。解决方案：该通信机器人通过获取面部图像数据（S25），当伴侣发音时，通过表达式（S27）来识别情绪，并且通过获取基于非语言信息来识别情感（S31）话音语音数据（S29）。紧张情绪的存在几乎不依赖于情绪识别结果（S35和S37）的确定情况，并且当有紧张时执行张力缓解行为（S43）。在没有紧张情绪的情绪认知结果的基础上确定情绪的存在容易依赖于喜悦和愤怒等情境。当识别出情绪时，通过从语音识别结果提取与识别情感相对应的候选来确定识别词，以执行与识别情感相对应的行为。版权所有（C）2006，JPO＆NCIPI

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