公开(公告)号：US07599896B2

公开(公告)日：2009-10-06

申请号：US12025540

申请日：2008-02-04

Applicant: Richard Alan Peters, II

Inventor： Richard Alan Peters, II

IPC: G06N5/00

CPC classification number: G06N3/008 ,  B25J9/161 ,  B25J9/163 ,  G05B2219/39254 ,  G05D1/0088 ,  G05D1/0274 ,  G05D2201/02 ,  G06N99/005

Abstract: An architecture for robot intelligence enables a robot to learn new behaviors and create new behavior sequences autonomously and interact with a dynamically changing environment. Sensory information is mapped onto a Sensory Ego-Sphere (SES) that rapidly identifies important changes in the environment and functions much like short term memory. Behaviors are stored in a DBAM that creates an active map from the robot's current state to a goal state and functions much like long term memory. A dream state converts recent activities stored in the SES and creates or modifies behaviors in the DBAM.

Abstract translation: 机器人智能的架构使机器人能够自主学习新行为并创建新的行为序列，并与动态变化的环境进行交互。 感官信息被映射到感觉自由球（SES）上，其快速识别环境中的重要变化，并且功能非常类似于短期记忆。 行为存储在DBAM中，它创建一个从机器人当前状态到目标状态的活动映射，并且功能非常像长期内存。 梦境状态转换存储在SES中的最新活动，并创建或修改DBAM中的行为。

公开(公告)号：US07302312B2

公开(公告)日：2007-11-27

申请号：US11485637

申请日：2006-07-11

Applicant: Thomas J. Murray, IV ,  Baoquoc N. Pham ,  Paolo Pirjanian

Inventor： Thomas J. Murray, IV ,  Baoquoc N. Pham ,  Paolo Pirjanian

IPC: G05B19/00

CPC classification number: G06N3/008 ,  B25J9/161 ,  B25J9/1661 ,  B25J9/1666 ,  G05B2219/40389 ,  G05B2219/40397 ,  G05D1/0088 ,  G05D2201/02 ,  G06F9/455 ,  Y10T436/11

Abstract: Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and/or an operating system for the hardware. The HAL provides a relatively uniform abstract for aggregates of underlying hardware such that the underlying robotic hardware is transparent to perception and control software, i.e., robot control software. This advantageously permits robot control software to be written in a robot-independent manner. Developers of robot control software are then freed from tedious lower level tasks. Portability is another advantage. For example, the HAL efficiently permits robot control software developed for one robot to be ported to another. In one example, the HAL permits the same navigation algorithm to be ported from a wheeled robot and used on a humanoid legged robot.

公开(公告)号：US20070038332A1

公开(公告)日：2007-02-15

申请号：US11497336

申请日：2006-08-02

Applicant: Fumio Ozaki ,  Tetsuo Hasegawa ,  Hisashi Hayashi ,  Seiji Tokura ,  Yasuhiko Suzuki

Inventor： Fumio Ozaki ,  Tetsuo Hasegawa ,  Hisashi Hayashi ,  Seiji Tokura ,  Yasuhiko Suzuki

IPC: G06F19/00

CPC classification number: G05B15/02 ,  G05D1/0088 ,  G05D2201/02

Abstract: A behavior control apparatus includes an external condition acquiring unit configured to acquire an external condition of a mobile robot; a goal generating unit configured to generate a goal to be achieved by executing a plan for multiple functions of the mobile robot, based on the external condition; a goal class generating unit configured to generate a goal class indicating whether the goal is a general goal to be achieved in the order of generation of the goal or a conditional goal to be achieved by an interruption as satisfying a preset executing condition; an executing order determining unit configured to determine an executing order of the plan based on the goal class; and a plan generating unit configured to generate the plan for achieving a goal sequence of the order of execution.

Abstract translation: 行为控制装置包括：外部条件获取单元，被配置为获取移动机器人的外部状况; 目标产生单元，其被配置为基于所述外部条件生成通过执行所述移动机器人的多个功能的计划来实现的目标; 目标类生成单元，被配置为生成指示目标是否是按目标生成的顺序实现的一般目标的目标等级或者通过中断来实现的满足预设执行条件的条件目标; 执行顺序确定单元，被配置为基于所述目标类确定所述计划的执行顺序; 以及计划生成单元，被配置为生成用于实现执行顺序的目标序列的计划。