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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
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.
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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
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.
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公开(公告)号：US06816753B2
公开(公告)日：2004-11-09
申请号：US10168993
申请日：2002-12-16
IPC分类号： G06F1900
CPC分类号： G06N3/008 , G05B2219/40304 , Y10S707/99943
摘要： To control articulated robots by dynamically modifying a combination of a hardware-dependent middleware layer and a hardware-independent application layer. An interface and a database for semantically performing operation are prepared between a middleware layer which depends upon the hardware configuration of a robot and an application layer which does not depend upon the hardware configuration, thereby making it possible to always guarantee normal operation even if a combination of the middleware and the application which is to be introduced onto the robot is modified. The application can acquire appropriate input data via the middleware, and can issue an appropriate command.
摘要翻译： 通过动态修改硬件依赖中间件层和与硬件无关的应用层的组合来控制铰接机器人。 在取决于机器人的硬件配置的中间件层和不依赖于硬件配置的应用层之间准备用于语义执行操作的接口和数据库，从而使得即使组合也可以始终保证正常操作 的中间件和要引入到机器人上的应用程序被修改。 应用程序可以通过中间件获取适当的输入数据，并可以发出适当的命令。
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公开(公告)号：US06751526B2
公开(公告)日：2004-06-15
申请号：US09135973
申请日：1998-08-18
申请人： Masahiro Fujita
发明人： Masahiro Fujita
IPC分类号： G06F1900
CPC分类号： B25J9/1605
摘要： A method for describing the structure of a robot representing robot parts as an assembly of elementary structures which is based on the skeletonic representation, a robot structure and a robot part. The parts CPCi are robot parts making up a robot. The connecting information CONNECTi is represented by a symbol “-” specifying serial connection to a previous elementary structure and a symbol “;n” specifying connection to the elementary structure n elementary structures before. The shape information jSHAPEi, is represented by straight lines by a vector jpi, and the coordinate transformation to the next elementary structure at the terminal point of iPARTj is given by the transformation matrix jRi.
摘要翻译： 一种用于描述机器人部件的结构的方法，所述机器人部件是基于骨骼表示的基本结构的组件，机器人结构和机器人部件。 CPCi是组成机器人的机器人零件。 连接信息CONNECTi由指定到先前基本结构的串行连接的符号“ - ”表示，以及指定与之前的基本结构n个基本结构连接的符号“n”。 形状信息jSHAPEi由向量jpi由直线表示，并且通过变换矩阵jRi给出在iPARTj的终点处到下一个基本结构的坐标变换。
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15.发明授权公开(公告)号：US06668211B1
公开(公告)日：2003-12-23
申请号：US09623972
申请日：2000-10-23
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。
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公开(公告)号：US06650965B2
公开(公告)日：2003-11-18
申请号：US09979434
申请日：2002-03-13
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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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。
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公开(公告)号：US06532440B1
公开(公告)日：2003-03-11
申请号：US09173962
申请日：1998-10-16
IPC分类号： G06F1750
CPC分类号： G01R31/31835
摘要： A method and system for locating possible error or fault sites in a circuit or system. A set of nodes are chosen, using error models in some embodiments. By applying X values to the set of nodes in conjunction with three valued logic simulation output responses between the circuit and the specification are determined. Based on the comparison of the output responses between the circuit and the specification, an error probability can be assigned to the set of nodes. A ranked set of nodes is thereby produced with the highest ranked set of nodes being the most likely error or fault site. Furthermore, by determining the relationship of the inputs to the set of nodes to the outputs of the set of nodes in conjunction with test vectors and output responses determined in the specification, an error probability can also be assigned to the set of nodes. Use of symbolic logic variables can assist in determining the relationship of the inputs to the set of nodes to the outputs of the set of nodes.
摘要翻译： 一种用于定位电路或系统中可能的错误或故障位置的方法和系统。 在一些实施例中使用误差模型来选择一组节点。 通过将X值应用于节点集合并结合电路与规范之间的三值逻辑模拟输出响应。 基于电路和规范之间的输出响应的比较，可以将错误概率分配给该组节点。 由此产生排列的节点集合，其中最高排名的节点集合是最可能的错误或故障站点。此外，通过结合测试来确定输入与节点集合到节点集合的输出的关系 在规范中确定的向量和输出响应，也可以将错误概率分配给该组节点。 使用符号逻辑变量可以帮助确定输入与节点集合到该组节点的输出的关系。
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19.发明授权公开(公告)号：US06505097B1
公开(公告)日：2003-01-07
申请号：US09482473
申请日：2000-01-12
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 for inter-object data communication has an object manager for connecting objects so as to enable exchange of data between the objects, and a connection data supplying unit for supplying the object manager with connection data necessary for achieving the connection between the objects. An inter-object communication method and a robot incorporating the arithmetic processing device are also provided. The robot may be designed to enable a user to replace parts thereof, thus changing the robot configuration. The robot preferably includes a part detection unit for detecting parts attached to the robot, and outputting a part detection result in accordance with the detection. An information storage unit stores information corresponding to the part detection result for each configuration obtained by replacement of the parts. A software changing unit revises robot-controlling software in correspondence with a changed configuration, based on a comparison of the part detection result with the information stored in the information storage unit. A controller controls general robot operations in accordance with the revised software.
摘要翻译： 用于对象间数据通信的算术处理装置具有用于连接对象的对象管理器，以便能够在对象之间交换数据;以及连接数据提供单元，用于向对象管理器提供实现对象之间的连接所必需的连接数据 。 还提供了一种对象间通信方法和结合有算术处理装置的机器人。 机器人可以被设计成使得用户能够替换其部件，从而改变机器人配置。 机器人优选地包括用于检测附接到机器人的部件的部件检测单元，并且根据检测输出部件检测结果。 信息存储单元存储与通过更换部件获得的每个配置的部件检测结果相对应的信息。 基于部件检测结果与存储在信息存储单元中的信息的比较，软件更换单元根据改变的配置来修改机器人控制软件。 控制器根据修订的软件控制一般的机器人操作。
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20.发明授权公开(公告)号：US06470237B2
公开(公告)日：2002-10-22
申请号：US09976966
申请日：2001-10-12
申请人： Masahiro Fujita , Kazufumi Oyama
发明人： Masahiro Fujita , Kazufumi Oyama
IPC分类号： G05B19418
CPC分类号： B25J9/1602 , B25J9/1617
摘要： A robot is provided which comprises a body unit, plural component units connected to the body unit, a memory mounted on the body unit for storing unit information of each of the component units and a basic operation program, a control unit mounted on the body unit for controlling the action of the robot, and a memory unit detachably mounted on the body unit for storing application program of the robot. The control unit reads out (i) the unit information, (ii) the basic operation program and (iii) the application program, and controls the component units in accordance with the read unit information, basic program, and application program.
摘要翻译： 提供了一种机器人，其包括主体单元，连接到主体单元的多个部件单元，安装在主体单元上用于存储每个部件单元的单元信息和基本操作程序的存储器，安装在主体单元上的控制单元 用于控制机器人的动作，以及可拆卸地安装在身体单元上用于存储机器人的应用程序的存储器单元。 控制单元读出（i）单元信息，（ii）基本操作程序和（iii）应用程序，并且根据读取的单元信息，基本程序和应用程序来控制组件单元。
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