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1. 发明申请

US20070257910A1 Method and Apparatus for Detecting Plane, and Robot Apparatus Having Apparatus for Detecting Plane 失效
标题翻译：用于检测平面的方法和装置，以及具有用于检测平面的装置的机器人装置
公开(公告)号：US20070257910A1
公开(公告)日：2007-11-08
申请号：US10593150
申请日：2005-03-17
申请人： Steffen Gutmann , Masaki Fukuchi , Kotaro Sabe , Kenta Kawamoto
发明人： Steffen Gutmann , Masaki Fukuchi , Kotaro Sabe , Kenta Kawamoto
IPC分类号： G06T17/00
CPC分类号： G06K9/00664 , B62D57/024 , G06K9/00201 , G06T7/13 , G06T7/73 , G06T2207/30252
摘要： In a plane detection apparatus, a plane detection unit (3) includes a line fitting block (4) to select a group of distance data points being in one plane from distance data forming an image and extract lines from the distance data point group, and a region growing block (5) to detect one or more planar regions existing in the image from a group of all lines included in the image and extracted by the line fitting block (4). The line fitting block (4) first draws a line D1 connecting end points of the distance data point group, searches a point of interest brk whose distance to the line L1 is largest, segments the data point group by the point of interest brk when the distance is larger than a predetermined threshold, and determines a line L2 by the least-squares method when the distance is smaller than the predetermined threshold. In case there exists a larger number of data points than a predetermine number on one side of the line L2, the data point group is determined to be in a zig-zag shape, the data point group is segmented by the point of interest brk. These operations are done repeatedly. Thus, a plurality of planes robust against noises is detected simultaneously and accurately from distance data including measurement noises.
摘要翻译：在平面检测装置中，平面检测装置（3）包括线拟合块（4），用于从形成图像的距离数据中选择位于一个平面中的一组距离数据点，并从距离数据点组提取线，区域生长块（5），用于检测图像中存在的一个或多个平面区域，所述平面区域包括在所述图像中并由所述线拟合块（4）提取。线拟合块（4）首先画出连接距离数据点组的端点的线D1，搜索距离线L 1最大的距离的兴趣点brk，将数据点组划分为兴趣点brk 当距离大于预定阈值时，并且当距离小于预定阈值时，通过最小二乘法确定线路L 2。在线L2的一侧存在比预定数量多的数据点的情况下，数据点组被确定为Z字形，数据点组被兴趣点分割。这些操作重复完成。因此，从包括测量噪声的距离数据同时且准确地检测到抵抗噪声的多个平面。

2. 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。

3. 发明授权

US07149603B2 Robot apparatus 失效
公开(公告)号：US07149603B2
公开(公告)日：2006-12-12
申请号：US11098926
申请日：2005-04-04
申请人： Kotaro Sabe , Masahiro Fujita
发明人： Kotaro Sabe , Masahiro Fujita
IPC分类号： G05F19/00
CPC分类号： G06N3/008 , A63H11/00 , B25J11/0005
摘要： A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.

4. 发明授权

US07146252B2 Robot apparatus 失效
标题翻译：机器人装置
公开(公告)号：US07146252B2
公开(公告)日：2006-12-05
申请号：US11099394
申请日：2005-04-05
申请人： Kotaro Sabe , Masahiro Fujita
发明人： Kotaro Sabe , Masahiro Fujita
IPC分类号： G05F19/00
CPC分类号： G06N3/008 , A63H11/00 , B25J11/0005
摘要： A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.
摘要翻译：提供了一种机器人装置。 CPU15基于从触摸传感器20提供的信号来确定感觉模型的输出.CPU 15还解密感觉模型的输出值是否超过预先设定的阈值。如果CPU发现输出值超过预定阈值，则验证存储卡13中是否有空闲区域。如果CPU发现存储卡13中有空的区域，则会导致从CCD摄像机11捕获的图像数据被存储在存储卡13的空闲区域中。此时，CPU15将存储卡13中的时间和日期数据和感觉参数与图像相关联数据。 CPU15还按照感觉模型输出的衰减幅度的顺序重新排列存储在存储卡13中的图像数据。

5. 发明申请

US20050197741A1 Robot apparatus 失效
公开(公告)号：US20050197741A1
公开(公告)日：2005-09-08
申请号：US11099380
申请日：2005-04-05
申请人： Kotaro Sabe , Masahiro Fujita
发明人： Kotaro Sabe , Masahiro Fujita
IPC分类号： A63F13/00 , A63H11/00 , B25J5/00 , B25J9/18 , B25J13/00 , B25J13/08 , G06N3/00 , G06F19/00
CPC分类号： G06N3/008 , A63H11/00 , B25J11/0005
摘要： A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.

6. 发明申请

US20050187662A1 Robot apparatus 审中-公开
标题翻译：机器人装置
公开(公告)号：US20050187662A1
公开(公告)日：2005-08-25
申请号：US11099139
申请日：2005-04-04
申请人： Kotaro Sabe , Masahiro Fujita
发明人： Kotaro Sabe , Masahiro Fujita
IPC分类号： A63F13/00 , A63H11/00 , B25J5/00 , B25J9/18 , B25J13/00 , B25J13/08 , G06N3/00 , G06F19/00
CPC分类号： G06N3/008 , A63H11/00 , B25J11/0005
摘要： A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.
摘要翻译：提供了一种机器人装置。 CPU15基于从触摸传感器20提供的信号确定感觉模型的输出。 CPU15还解密感觉模型的输出值是否超过预先设定的阈值。如果CPU发现输出值超过预定阈值，则验证存储卡13中是否有空的区域。如果CPU发现存储卡13中存在任何空闲区域，则将从CCD摄像机11捕获的图像数据存储在存储卡13的空闲区域中。此时，CPU15与图像数据相关联地导致存储卡13中的时间和日期数据和感觉参数。 CPU15还按照感觉模型输出的衰减幅度的顺序重新排列存储在存储卡13中的图像数据。

7. 发明申请

US20050177278A1 Robot apparatus 失效
公开(公告)号：US20050177278A1
公开(公告)日：2005-08-11
申请号：US11099394
申请日：2005-04-05
申请人： Kotaro Sabe , Masahiro Fujita
发明人： Kotaro Sabe , Masahiro Fujita
IPC分类号： A63F13/00 , A63H11/00 , B25J5/00 , B25J9/18 , B25J13/00 , B25J13/08 , G06N3/00 , G06F19/00
CPC分类号： G06N3/008 , A63H11/00 , B25J11/0005
摘要： A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.

8. 发明申请

US20050171643A1 Robot apparatus 失效
公开(公告)号：US20050171643A1
公开(公告)日：2005-08-04
申请号：US11098933
申请日：2005-04-05
申请人： Kotaro Sabe , Masahiro Fujita
发明人： Kotaro Sabe , Masahiro Fujita
IPC分类号： A63F13/00 , A63H11/00 , B25J5/00 , B25J9/18 , B25J13/00 , B25J13/08 , G06N3/00 , G06F19/00
CPC分类号： G06N3/008 , A63H11/00 , B25J11/0005
摘要： A robot apparatus is provided. A CPU 15 determines an output of a feeling model based on signals supplied from a touch sensor 20. The CPU 15 also deciphers whether or not an output value of the feeling model exceeds a pre-set threshold value. If the CPU finds that the output value exceeds the pre-set threshold value, it verifies whether or not there is any vacant area in a memory card 13. If the CPU finds that there is any vacant area in a memory card 13, it causes the picture data captured from the CCD video camera 11 to be stored in the vacant area in the memory card 13. At this time, the CPU 15 causes the time and date data and the feeling parameter in the memory card 13 in association with the picture data. The CPU 15 also re-arrays the picture data stored in the memory card 13 in the sequence of the decreasing magnitude of the feeling model output.

9. 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。

10. 发明授权

US06650965B2 Robot apparatus and behavior deciding method 失效
标题翻译：机器人装置和行为决定方法
公开(公告)号：US06650965B2
公开(公告)日：2003-11-18
申请号：US09979434
申请日：2002-03-13
申请人： Tsuyoshi Takagi , Masahiro Fujita , Rika Hasegawa , Kotaro Sabe , Craig Ronald Arkin
发明人： Tsuyoshi Takagi , Masahiro Fujita , Rika Hasegawa , Kotaro Sabe , Craig Ronald Arkin
IPC分类号： G06F1900
CPC分类号： G06N3/008
摘要： A behavior decision system (70) includes a perceptual information acquisition unit (90) which acquires a cause factor being external or internal information acquired by a CCD camera (20), distance sensor (22), microphone (23) or the like and which influences a behavior and a motivational information acquisition unit (81) which acquires an occurrence tendency of a behavior influenced by the cause factor based on the cause factor from the perceptual information acquisition unit (90), a behavior selecting processor (82) which compares occurrence tendencies corresponding to two or more behaviors, acquired by the perceptual information acquisition unit (90) and motivational information acquisition unit (81) and belonging to the same group, to thereby select one of the behaviors, and an output semantics converter module (68) which controls moving parts based on the behavior selected by the behavior selecting processor (82) for expressing the selected behavior. With the behavior decision system, there can be provided a robot having an improved likeness to a living thing or a creature and showing a more similar behavior to that of an animal.
摘要翻译：行为决定系统（70）包括感知信息获取单元（90），其获取由CCD照相机（20），距离传感器（22），麦克风（23）等获取的外部或内部信息的原因，影响行为和动机信息获取单元（81），其基于来自感知信息获取单元（90）的原因因素来获取受原因因素影响的行为的发生趋势，行为选择处理器（82），其比较发生由感知信息获取单元（90）和动机信息获取单元（81）获取并属于同一组的两个或多个行为对应的倾向，从而选择行为之一，以及输出语义转换器模块（68）其基于由行为选择处理器（82）选择的用于表示所选择的行为的行为来控制移动部件。通过行为决定系统，可以提供一种对生物或生物具有改进的相似性并且表现出与动物相似的行为的机器人。

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