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61. 发明授权

US08504198B2 Robot hand and control system, control method and control program for the same 有权
标题翻译：机器人手和控制系统，控制方法和控制程序相同
公开(公告)号：US08504198B2
公开(公告)日：2013-08-06
申请号：US12779298
申请日：2010-05-13
申请人： Kazuyuki Takahashi , Hironori Waita , Hiroshi Gomi
发明人： Kazuyuki Takahashi , Hironori Waita , Hiroshi Gomi
IPC分类号： G06F19/00 , G05B15/00
CPC分类号： G06N3/008 , B25J9/1612 , B25J15/0009
摘要： A robot hand has a pipe which is sufficiently flexible to allow a change in the cross-sectional area thereof according to the pressure of a fluid, thereby permitting a higher degree of freedom of the layouts of the pipe and a master cylinder connected through the pipe. Moreover, considerations are given to a change in the cross-sectional area of the pipe caused by a change in the pressure of the fluid in the pipe, thus making it possible to measure the position of a slave piston with high accuracy.
摘要翻译：机器人手具有足够柔性以允许根据流体的压力而改变其横截面面积的管，从而允许管的布局和通过管连接的主缸的更高自由度。此外，考虑到由管道中的流体的压力变化引起的管道的横截面积的变化，从而可以高精度地测量从动活塞的位置。

62. 发明申请

US20130103196A1 HUMANOID GAME-PLAYING ROBOT, METHOD AND SYSTEM FOR USING SAID ROBOT 有权
标题翻译： HUMANOID游戏机器人，使用机器人的方法和系统
公开(公告)号：US20130103196A1
公开(公告)日：2013-04-25
申请号：US13808040
申请日：2011-06-27
申请人： Jerome Monceaux , Celine Boudier
发明人： Jerome Monceaux , Celine Boudier
IPC分类号： B25J9/00
CPC分类号： B25J9/0006 , A63F9/183 , A63F2009/243 , A63F2009/2433 , A63F2009/2476 , A63H11/18 , A63H2200/00 , G06N3/008
摘要： The invention relates to a player humanoid robot, a method and computer programs associated therewith. The prior art does not disclose any humanoid robot able to move on its lower limbs, to perform gestures, to communicate visual and/or audible signs, to receive same and interpret them so as to deduce therefrom appropriate behaviors for participating in a game in time as compere, questioner, questioned, investigator or mobile stake for the game. The hardware architectures, internal software and software for programming the robot of the invention make it possible to carry out these functions and to create new game experiences in which the boundaries between virtual world and real world are shifted once again.
摘要翻译：本发明涉及一种玩具类人机器人，一种与之相关的方法和计算机程序。现有技术没有公开能够在其下肢上移动，执行手势，传达视觉和/或听觉符号以接收它们并解释它们的任何类人形机器人，从而从中推导出适合参与游戏的行为作为竞争对手，提问者，质疑者，调查员或移动股权。用于编程本发明的机器人的硬件架构，内部软件和软件使得可以执行这些功能并创建新的游戏体验，其中虚拟世界和现实世界之间的边界再次被移动。

63. 发明申请

US20120315821A1 TOY SET, GAME CONTROL PROGRAM, AND GAME DEVICE AND TOY COMMUNICATION SYSTEM 有权
标题翻译：玩具，游戏控制程序，游戏装置和玩具通信系统
公开(公告)号：US20120315821A1
公开(公告)日：2012-12-13
申请号：US13575634
申请日：2011-01-28
申请人： Tetsuya Hayakawa
发明人： Tetsuya Hayakawa
IPC分类号： A63H3/28 , A63F9/24 , A63F13/00
CPC分类号： A63F13/02 , A63F13/12 , A63F13/424 , A63F13/54 , A63F2300/1081 , A63F2300/6072 , A63F2300/6081 , A63H3/28 , A63H2200/00 , G06N3/008
摘要： A toy set 100 is provided which enables a communication between a game device and a toy without changing a hardware configuration of the game device.A toy set 100 includes a toy 5 and a program which is stored in a storage medium 8, and when executed by a control means of a game device 5, the program causes the game device to include a filter means for detecting sounds of a unitary frequency, an output means for outputting a voice which corresponds to a combination of the sounds detected, a generation means for generating a plurality of sounds of a unitary frequency and a sender means for generating a control signal by a combination of the sounds and sending out the control signal from a sound generation means of the game device 5, while the toy 1 incorporates a sound generation means, a voice input means, a control means and a sensing means, and the control means includes a generation means for generating a plurality of sounds of a unitary frequency, whereby a control signal is generated by a combination of the sounds so as to be sent out from the sound generation means of the toy, and when the control signal is inputted thereinto from the game device 5, the toy 1 performs a predetermined action which corresponds to the control signal.
摘要翻译：提供了玩具组100，其能够在不改变游戏装置的硬件配置的情况下实现游戏装置与玩具之间的通信。玩具组100包括玩具5和存储在存储介质8中的程序，并且当由游戏装置5的控制装置执行时，该程序使得游戏装置包括用于检测酉的声音的滤波器装置用于输出对应于所检测的声音的组合的声音的输出装置，用于产生单一频率的多个声音的发生装置和用于通过声音的组合产生控制信号的发送器装置，并发送来自游戏装置5的声音产生装置的控制信号，而玩具1包括声音产生装置，语音输入装置，控制装置和感测装置，并且控制装置包括产生装置，用于产生多个由此通过声音的组合产生控制信号，以便从玩具的声音发生装置发出控制信号，并且当输入控制信号时玩具1从游戏装置5执行对应于控制信号的预定动作。

64. 发明授权

US08315454B2 Robot apparatus and method of controlling the behavior thereof 有权
标题翻译：机器人装置及其行为控制方法
公开(公告)号：US08315454B2
公开(公告)日：2012-11-20
申请号：US11224154
申请日：2005-09-12
申请人： Fumihide Tanaka , Hiroaki Ogawa , Hirotaka Suzuki , Osamu Hanagata , Tsutomu Sawada , Masato Ito
发明人： Fumihide Tanaka , Hiroaki Ogawa , Hirotaka Suzuki , Osamu Hanagata , Tsutomu Sawada , Masato Ito
IPC分类号： G06F19/00 , G05B19/04
CPC分类号： G06N3/008
摘要： The present invention provides a robot apparatus that can perform appropriate actions in accordance with the ambient conditions, and a method of controlling the behavior of the robot apparatus. The robot apparatus includes a data-acquiring unit that acquires data, externally and/or internally, a subject-identifying unit that identifies a subject performing an action, by using the data externally acquired, a condition-recognizing unit that recognizes external conditions and/or internal conditions, by using the data externally acquired and/or the data internally acquired, an action-pattern acquiring unit that acquires an action pattern of the subject, by using the data externally acquired, a storage unit that stores action data representing the action of the subject, in association with condition data and subject identification data, the condition data representing conditions external and/or internal of the robot apparatus, and the subject identification data identifying the subject, and an action-performing unit that performs actions, wherein the action-performing unit performs an action represented by the action data stored in the storage unit, in accordance with the identification data and the external and/or internal condition data, when the subject-identifying unit identifies the subject.
摘要翻译：本发明提供一种能够根据环境条件执行适当动作的机器人装置，以及控制机器人装置的动作的方法。机器人装置包括数据获取单元，其通过使用外部获取的数据来获取识别执行动作的对象的对象识别单元的外部和/或内部的数据，识别外部条件的条件识别单元和/ 或内部条件，通过使用外部获取的数据和/或内部获取的数据，动作模式获取单元，通过使用外部获取的数据来获取对象的动作模式;存储单元，存储表示动作的动作数据与条件数据和对象识别数据相关联的条件数据表示机器人装置的外部和/或内部的条件以及标识对象的对象识别数据，以及执行动作的动作执行单元，其中，动作执行单元根据识别符执行由存储在存储单元中的动作数据表示的动作阳性数据和外部和/或内部条件数据，当主体识别单元识别对象时。

65. 发明授权

US08306657B2 Control device for legged mobile robot 有权
标题翻译：腿式移动机器人控制装置
公开(公告)号：US08306657B2
公开(公告)日：2012-11-06
申请号：US12912167
申请日：2010-10-26
申请人： Takahide Yoshiike , Hiroyuki Kaneko , Atsuo Orita
发明人： Takahide Yoshiike , Hiroyuki Kaneko , Atsuo Orita
IPC分类号： G05B19/04
CPC分类号： B62D57/032 , G06N3/008
摘要： A control device for a legged mobile robot has a first motion determiner which sequentially determines the instantaneous value of a first motion of a robot by using a first dynamic model and a second motion determiner which sequentially determines the instantaneous value of a second motion of the robot by using a second dynamic model, and sequentially determines a desired motion of the robot by combining the first motion and the second motion. A low frequency component and a high frequency component of a feedback manipulated variable having a function for bringing a posture state amount error, which indicates the degree of the deviation of an actual posture of the robot from a desired posture, close to zero are fed back to the first motion determiner and the second motion determiner, respectively.
摘要翻译：用于腿式移动机器人的控制装置具有第一运动确定器，其通过使用第一动态模型顺序确定机器人的第一运动的瞬时值，以及顺序地确定机器人的第二运动的瞬时值的第二运动确定器通过使用第二动态模型，并且通过组合第一运动和第二运动来顺序地确定机器人的期望运动。反馈操作变量的低频分量和高频分量具有使机器人的实际姿势偏离期望姿势接近零的姿势状态量误差的功能的反馈分别到第一运动确定器和第二运动确定器。

66. 发明申请

US20120197436A1 SYSTEM AND METHOD FOR GENERATING CONTEXTUAL BEHAVIORS OF A MOBILE ROBOT 有权
标题翻译：用于产生移动机器人的背景行为的系统和方法
公开(公告)号：US20120197436A1
公开(公告)日：2012-08-02
申请号：US13383196
申请日：2010-07-12
申请人： Bruno Maisonnier , Jérôme Monceaux
发明人： Bruno Maisonnier , Jérôme Monceaux
IPC分类号： G06F9/44 , B25J9/16 , G05B15/00
CPC分类号： B25J9/1656 , G06F8/34 , G06N3/008
摘要： A system and a method for generating behaviors of a robot capable of reproducing a script, notably according to the meaning of the script and, possibly, reactions of the environment of the robot. For this, the system is provided with a library of command tags and a module for inserting said tags into the editor of the script to be reproduced by the robot or robots. The system and method enable a user who does not have particular programming knowledge to produce complex scenarios for use of his or her robot. These scenarios can also be swapped between different users.
摘要翻译：一种用于生成能够再现脚本的机器人的行为的系统和方法，特别是根据脚本的含义以及可能的机器人的环境的反应。为此，该系统具有命令标签库和用于将所述标签插入脚本的编辑器以由机器人或机器人再现的模块。该系统和方法使得不具有特定编程知识的用户能够产生用于他或她的机器人的复杂场景。这些情况也可以在不同用户之间进行交换。

67. 发明申请

US20120150352A1 APPARATUS AND METHOD FOR SYNCHRONIZING ROBOTS 失效
标题翻译：用于同步机器人的装置和方法
公开(公告)号：US20120150352A1
公开(公告)日：2012-06-14
申请号：US12967279
申请日：2010-12-14
申请人： Chang Hyun PARK
发明人： Chang Hyun PARK
IPC分类号： B25J13/00
CPC分类号： G06N3/008 , B25J9/1671 , B25J9/1689 , B25J13/006 , B25J13/06 , G05B2219/39014 , G05B2219/40121 , G05B2219/40129
摘要： Disclosed herein are an apparatus and method for synchronization robots. According to an aspect of the present invention, a portable robot synchronization apparatus includes a storage unit configured to store data defining physical models and behaviors of a real robot, a manipulation unit, an output unit, a communication unit configured to perform wired and wireless communication with the real robot or a server, and a control unit configured to model a size and behavior of a virtual robot, having a shape and behavior of the real robot, in response to a manipulation command received through the manipulation unit, on the basis of the data stored in the storage unit, output the modeled virtual robot through the output unit, and control the behavior of the virtual robot in response to the behavior of the real robot when communicating with the real robot through the communication unit.
摘要翻译：这里公开了一种用于同步机器人的装置和方法。根据本发明的一个方面，便携式机器人同步装置包括：存储单元，被配置为存储定义真实机器人的物理模型和行为的数据，操纵单元，输出单元，被配置为执行有线和无线通信的通信单元与真实的机器人或服务器，以及控制单元，被配置为响应于通过操纵单元接收的操作命令，对具有真实机器人的形状和行为的虚拟机器人的大小和行为进行建模，基于存储在存储单元中的数据通过输出单元输出建模的虚拟机器人，并且通过通信单元与真实机器人通信时响应于真实机器人的行为来控制虚拟机器人的行为。

68. 发明授权

US08131658B2 Brain-based device having a cerebellar model for predictive motor control 有权
标题翻译：具有用于预测性运动控制的小脑模型的基于脑的装置
公开(公告)号：US08131658B2
公开(公告)日：2012-03-06
申请号：US12914596
申请日：2010-10-28
申请人： Jeffrey L. McKinstry , Gerald M. Edelman , Jeffrey L. Krichmar
发明人： Jeffrey L. McKinstry , Gerald M. Edelman , Jeffrey L. Krichmar
IPC分类号： G06N5/00
CPC分类号： G05B13/04 , G05B13/026 , G06N3/008 , G06N3/049
摘要： A mobile brain-based device (BBD) includes a mobile platform with sensors and effectors, which is guided by a simulated nervous system that is an analogue of the cerebellar areas of the brain used for predictive motor control to determine interaction with a real-world environment. The simulated nervous system has neural areas including precerebellum nuclei (PN), Purkinje cells (PC), deep cerebellar nuclei (DCN) and an inferior olive (IO) for predicting turn and velocity control of the BBD during movement in a real-world environment. The BBD undergoes training and testing, and the simulated nervous system learns and performs control functions, based on a delayed eligibility trace learning rule.
摘要翻译：基于移动脑的设备（BBD）包括具有传感器和效果器的移动平台，其由模拟神经系统引导，模拟神经系统是用于预测运动控制的大脑小脑区域的类似物，以确定与真实世界的交互环境。模拟神经系统具有包括脑前核（PN），浦肯野细胞（PC），深小脑核（DCN）和下橄榄（IO）的神经区域，用于预测在现实环境中运动期间BBD的转向和速度控制。 BBD经过培训和测试，模拟神经系统基于延迟资格追踪学习规则学习和执行控制功能。

69. 发明授权

US08073564B2 Multi-robot control interface 有权
标题翻译：多机器人控制界面
公开(公告)号：US08073564B2
公开(公告)日：2011-12-06
申请号：US11428757
申请日：2006-07-05
申请人： David J. Bruemmer , Miles C. Walton
发明人： David J. Bruemmer , Miles C. Walton
IPC分类号： G06F19/00
CPC分类号： G06N3/008 , G05B2219/39448 , G05D1/0027
摘要： Methods and systems for controlling a plurality of robots through a single user interface include at least one robot display window for each of the plurality of robots with the at least one robot display window illustrating one or more conditions of a respective one of the plurality of robots. The user interface further includes at least one robot control window for each of the plurality of robots with the at least one robot control window configured to receive one or more commands for sending to the respective one of the plurality of robots. The user interface further includes a multi-robot common window comprised of information received from each of the plurality of robots.
摘要翻译：用于通过单个用户界面来控制多个机器人的方法和系统包括用于所述多个机器人中的每一个的至少一个机器人显示窗口，所述至少一个机器人显示窗口示出所述多个机器人中的相应一个机器人的一个或多个条件。所述用户界面还包括用于所述多个机器人中的每一个的至少一个机器人控制窗口，所述至少一个机器人控制窗口被配置为接收用于发送到所述多个机器人中的相应一个机器人的一个或多个命令。用户界面还包括由从多个机器人中的每一个接收的信息组成的多机器人共用窗口。

70. 发明申请

US20110172822A1 Companion Robot for Personal Interaction 有权
标题翻译：个人互动伴侣机器人
公开(公告)号：US20110172822A1
公开(公告)日：2011-07-14
申请号：US12842314
申请日：2010-07-23
申请人： Andrew Ziegler , Andrew Jones , Clara Vu , Matthew Cross , Ken Sinclair , Tony L. Campbell
发明人： Andrew Ziegler , Andrew Jones , Clara Vu , Matthew Cross , Ken Sinclair , Tony L. Campbell
IPC分类号： B25J13/08 , H04N7/18
CPC分类号： B25J9/0003 , B25J5/007 , B25J9/1697 , B25J11/008 , B25J19/0091 , B25J19/023 , B25J19/06 , G05D1/021 , G05D1/0225 , G05D1/0234 , G05D1/0242 , G05D1/0246 , G05D1/0251 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D2201/0207 , G06F19/00 , G06F19/3418 , G06F19/3462 , G06N3/008 , G16H20/00 , G16H20/13 , G16H40/63 , G16H40/67 , Y10S901/01 , Y10S901/46 , Y10S901/47
摘要： A mobile robot guest for interacting with a human resident performs a room-traversing search procedure prior to interacting with the resident, and may verbally query whether the resident being sought is present. Upon finding the resident, the mobile robot may facilitate a teleconferencing session with a remote third party, or interact with the resident in a number of ways. For example, the robot may carry on a dialogue with the resident, reinforce compliance with medication or other schedules, etc. In addition, the robot incorporates safety features for preventing collisions with the resident; and the robot may audibly announce and/or visibly indicate its presence in order to avoid becoming a dangerous obstacle. Furthermore, the mobile robot behaves in accordance with an integral privacy policy, such that any sensor recording or transmission must be approved by the resident.
摘要翻译：与居民进行交互的移动机器人客人在与居民进行交互之前执行房间遍历搜索过程，并且可以口头地询问所寻求的居民是否存在。在找到居民时，移动机器人可以促进与远程第三方的电话会议会话，或者以多种方式与居民进行交互。例如，机器人可以与居民进行对话，加强对药物或其他时间表的遵守等。此外，机器人包括用于防止与居民碰撞的安全特征; 并且机器人可以可听见地宣布和/或可视地指示其存在，以避免成为危险的障碍物。此外，移动机器人的行为符合整体的隐私政策，使得任何传感器记录或传输都必须得到居民的批准。

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