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1. 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。

2. 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。

3. 发明授权

US07251606B2 Robot device with changing dialogue and control method therefor and storage medium 失效
标题翻译：具有改变对话和控制方法的机器人装置和存储介质
公开(公告)号：US07251606B2
公开(公告)日：2007-07-31
申请号：US10296403
申请日：2002-03-26
申请人： Rika Horinaka , Masahiro Fujita , Atsushi Okubo , Kenta Kawamoto , Gabriel Costa , Masaki Fukuchi , Osamu Hanagata , Kotaro Sabe
发明人： Rika Horinaka , Masahiro Fujita , Atsushi Okubo , Kenta Kawamoto , Gabriel Costa , Masaki Fukuchi , Osamu Hanagata , Kotaro Sabe
IPC分类号： G10L15/22
CPC分类号： G06N3/008 , B25J13/003 , G10L15/22 , G10L17/26
摘要： Sentences corresponding to internal statuses of a robot device or the like are created and uttered, thereby expressing the internal statuses. The robot device or the like comprise means for recognizing an external status, and means for generating an emotion based on the internals status, whereby a change in the emotion is reflected upon a dialogue. The internal status is not associated with a sentence, but it exists independently of the system and is always varied depending on various external inputs and internal changes of the system. Accordingly, even when the same question is made on the robot device or the like, the contents of a reply are changed depending on the internal status at that time, and a manner of providing a reply also differs depending on the internal status.
摘要翻译：创建并发出对应于机器人装置等的内部状态的句子，从而表示内部状态。机器人装置等包括用于识别外部状态的装置，以及用于基于内部状态产生情绪的装置，由此在对话中反映情绪的改变。内部状态与句子不相关，但它与系统无关，并且总是根据系统的各种外部输入和内部变化而变化。因此，即使在机器人装置等上进行同样的问题时，答复的内容根据当时的内部状态而变化，提供答复的方式也根据内部状态而不同。

4. 发明授权

US06088469A Identifying apparatus and method, position detecting apparatus and method, robot apparatus and color extracting apparatus 失效
公开(公告)号：US06088469A
公开(公告)日：2000-07-11
申请号：US938078
申请日：1997-09-26
申请人： Naohiro Fukumura , Osamu Hanagata , Kotaro Sabe , Makoto Inoue
发明人： Naohiro Fukumura , Osamu Hanagata , Kotaro Sabe , Makoto Inoue
IPC分类号： G06K9/46 , G06K9/00
CPC分类号： G06K9/3216 , G05D1/0246 , G06K9/46 , G06K9/4652 , G06K2009/3225
摘要： An identifying apparatus and method and a robot apparatus capable of reliably identifying other moving objects or other objects, a position detecting apparatus and method and a robot apparatus capable of accurately detecting the position of a moving object or itself within a region, and a color extracting apparatus capable of accurately extracting a desired color are difficult to be realized. Objects are provided with identifiers having different color patterns such that the color patterns are detected and identified through image processing. Also, the objects of interest are given color patterns different from each other, such that the position of the object can be detected by identifying the color pattern through image processing. Further, a plurality of wall surfaces having different colors are provided along the periphery of the region, such that the position of an object is detected on the basis of the colors of the wall surfaces through image processing. Further, a luminance level and color difference levels are sequentially detected for each of pixels to extract a color by determining whether or not the color difference levels are within a predetermined range.

5. 发明授权

US07693870B2 Information processing apparatus and method, and program used therewith 有权
标题翻译：信息处理装置和方法以及使用的程序
公开(公告)号：US07693870B2
公开(公告)日：2010-04-06
申请号：US11523515
申请日：2006-09-20
申请人： Tomohiko Gotoh , Katsuhiro Takematsu , Chao Xu , Osamu Hanagata , Tamaki Kojima , Tsunayuki Ohwa
发明人： Tomohiko Gotoh , Katsuhiro Takematsu , Chao Xu , Osamu Hanagata , Tamaki Kojima , Tsunayuki Ohwa
IPC分类号： G06F17/30
CPC分类号： G06F17/30265 , G06K9/6219 , Y10S707/99948
摘要： Systems and methods are disclosed for processing information. In one implementation, an image processing apparatus includes an acquisition unit that acquires two or more images to be grouped together. The images include time information as attribute information. The image processing apparatus groups the images based on whether the intervals among times represented by the time information are greater than at least one threshold value. The images are managed in the form of a binary tree structure and handled in single or different groups based on comparing a threshold value with the standard deviations of intervals among the times so as to match a user's subjective intention.
摘要翻译：公开了用于处理信息的系统和方法。在一个实现中，图像处理装置包括获取单元，其获取要分组在一起的两个或更多个图像。图像包括作为属性信息的时间信息。图像处理装置基于由时间信息表示的时间间隔是否大于至少一个阈值来对图像进行分组。以二叉树结构的形式管理图像，并且基于将阈值与时间之间的间隔的标准偏差进行比较，以单个或不同的组进行处理，以便匹配用户的主观意图。

6. 发明申请

US20060056678A1 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：US20060056678A1
公开(公告)日：2006-03-16
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： G06K9/00
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。

7. 发明授权

US07515992B2 Robot apparatus and emotion representing method therefor 失效
标题翻译：机器人装置和情感表示方法
公开(公告)号：US07515992B2
公开(公告)日：2009-04-07
申请号：US11029866
申请日：2005-01-05
申请人： Tsutomu Sawada , Hiroaki Ogawa , Osamu Hanagata
发明人： Tsutomu Sawada , Hiroaki Ogawa , Osamu Hanagata
IPC分类号： G06F19/00
CPC分类号： G06N3/008
摘要： A robot apparatus in which the storage capacity necessary for holding motion data is diminished in representing the emotion by motions exploiting the body resources. In demonstrating component behaviors of the robot apparatus, the basic posture, as the posture at the start time of one or plural movements forming a component behavior, is changed to express the emotion. Specifically, the robot apparatus includes variations for expressing the emotion for the basic posture (basic posture for the emotion). The respective resources are actuated from the basic posture for the emotion and reversion is made again to the basic posture to demonstrate the emotion.
摘要翻译：一种机器人装置，其中通过利用身体资源的运动来表示感情来减少用于保持运动数据所需的存储容量。在演示机器人装置的部件行为时，作为形成组件行为的一个或多个动作的开始时刻的姿势的基本姿势被改变以表达情绪。具体地，机器人装置包括用于表达基本姿势（情绪的基本姿势）的情绪的变化。相应的资源从情绪的基本姿态开始，并再次回到基本姿势来表现情感。

8. 发明申请

US20050216121A1 Robot apparatus and emotion representing method therefor 失效
标题翻译：机器人装置和情感表示方法
公开(公告)号：US20050216121A1
公开(公告)日：2005-09-29
申请号：US11029866
申请日：2005-01-05
申请人： Tsutomu Sawada , Hiroaki Ogawa , Osamu Hanagata
发明人： Tsutomu Sawada , Hiroaki Ogawa , Osamu Hanagata
IPC分类号： B25J13/00 , G06N3/00 , G06F19/00
CPC分类号： G06N3/008
摘要： In a robot apparatus, the storage capacity necessary for holding motion data is diminished in representing the emotion by motions exploiting the body resources. In demonstrating component behaviors of the robot apparatus, the basic posture, as the posture at the start time of one or plural movements forming a component behavior, is changed to express the emotion. Specifically, the robot apparatus includes variations for expressing the emotion for the basic posture (basic posture for the emotion). The respective resources are actuated from the basic posture for the emotion and reversion is made again to the basic posture to demonstrate the emotion. At this time, the robot apparatus 1 holds data, such as joint angles, in the course of the movements.
摘要翻译：在机器人装置中，通过利用身体资源的运动来表示感情，减少保持运动数据所需的存储容量。在演示机器人装置的部件行为时，作为形成组件行为的一个或多个动作的开始时刻的姿势的基本姿势被改变以表达情绪。具体地，机器人装置包括用于表达基本姿势（情绪的基本姿势）的情绪的变化。相应的资源从情绪的基本姿态开始，并再次回到基本姿势来表现情感。此时，机器人装置1在运动过程中保持诸如关节角度的数据。

9. 发明授权

US06453055B1 Identifying apparatus and method, position detecting apparatus and method, robot apparatus and color extracting apparatus 失效
标题翻译：识别装置和方法，位置检测装置和方法，机器人装置和抽色装置
公开(公告)号：US06453055B1
公开(公告)日：2002-09-17
申请号：US09328680
申请日：1999-06-09
申请人： Naohiro Fukumura , Osamu Hanagata , Kotaro Sabe , Makoto Inoue
发明人： Naohiro Fukumura , Osamu Hanagata , Kotaro Sabe , Makoto Inoue
IPC分类号： G06K900
CPC分类号： G06K9/3216 , G05D1/0246 , G06K9/46 , G06K9/4652 , G06K2009/3225
摘要： An identifying apparatus and method and a robot apparatus capable of reliably identifying other moving objects or other objects, a position detecting apparatus and method and a robot apparatus capable of accurately detecting the position of a moving object or itself within a region, and a color extracting apparatus capable of accurately extracting a desired color are difficult to be realized. Objects are provided with identifiers having different color patterns such that the color patterns are detected and identified through image processing. Also, the objects of interest are given color patterns different from each other, such that the position of the object can be detected by identifying the color pattern through image processing. Further, a plurality of wall surfaces having different colors are provided along the periphery of the region, such that the position of an object is detected on the basis of the colors of the wall surfaces through image processing. Further, a luminance level and color difference levels are sequentially detected for each of pixels to extract a color by determining whether or not the color difference levels are within a predetermined range.
摘要翻译：能够可靠地识别其他移动物体或其他物体的识别装置和方法和机器人装置，能够精确地检测区域内的移动物体或其本身的位置的位置检测装置和方法以及机器人装置，以及颜色提取能够精确地提取期望的颜色的装置难以实现。对象被提供有具有不同颜色图案的标识符，使得通过图像处理来检测和识别颜色图案。此外，感兴趣的对象被赋予彼此不同的颜色图案，使得可以通过图像处理识别颜色图案来检测对象的位置。此外，沿着该区域的周边设置具有不同颜色的多个壁表面，使得通过图像处理基于壁表面的颜色来检测物体的位置。此外，通过确定色差电平是否在预定范围内，针对每个像素顺序地检测亮度级和色差级别以提取颜色。

10. 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。

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