公开(公告)号：US07155312B2

公开(公告)日：2006-12-26

申请号：US11097597

申请日：2005-04-01

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.

公开(公告)号：US07151984B2

公开(公告)日：2006-12-19

申请号：US11099111

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.

公开(公告)号：US07146250B2

公开(公告)日：2006-12-05

申请号：US11099038

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。 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。

公开(公告)号：US20050197740A1

公开(公告)日：2005-09-08

申请号：US11099377

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.

公开(公告)号：US20050197739A1

公开(公告)日：2005-09-08

申请号：US11035811

申请日：2005-01-14

申请人： Kuniaki Noda ,  Shinya Ohtani ,  Tsutomu Sawada ,  Yukiko Yoshiike ,  Masahiro Fujita

发明人： Kuniaki Noda ,  Shinya Ohtani ,  Tsutomu Sawada ,  Yukiko Yoshiike ,  Masahiro Fujita

IPC分类号： B25J13/00 ,  B25J5/00 ,  G06F19/00

CPC分类号： B25J11/001 ,  G06N3/008

摘要： A behavior control system and a behavior control method for a robot apparatus are disclosed. The behavior control system and the behavior control method for a robot apparatus include a function of adaptively switching between a behavior selection standard, taking into account the own state, required of an autonomous robot, and a behavior selection standard, taking into account the state of a counterpart, responsive to a situation. A behavior selection control system in a robot apparatus includes a situation-dependent behavior layer (SBL), capable of selecting a particular behavior from plural behaviors, and outputting the so selected behavior, and an AL calculating unit 120 for calculating the AL (activation level), indicating the priority of execution of the behaviors, for behavior selection. This AL calculating unit 120 includes a self AL calculating unit 122 and a counterpart AL calculating unit 124 for calculating the self AL and the counterpart AL, and an AL integrating unit 125 for summing the self AL and the counterpart AL with weighting by a parameter used for determining whether emphasis is to be placed on the self state or on the counterpart state, to output an ultimate AL. The counterpart is a subject of interaction of the robot apparatus. The self AL and the counterpart AL indicate the priority of execution of the behavior with the self and with the co8unbterpart as a reference, respectively.

摘要翻译： 公开了一种用于机器人装置的行为控制系统和行为控制方法。 用于机器人装置的行为控制系统和行为控制方法包括考虑到自身状态，自动机器人所需的行为选择标准和行为选择标准之间的自适应切换的功能，同时考虑到 一个对应的，对情况做出回应。 机器人装置中的行为选择控制系统包括能够从多个行为中选择特定行为并输出所选行为的情境相关行为层（SBL），以及AL计算单元120，用于计算AL（激活水平 ），指示执行行为的优先级，用于行为选择。 该AL计算单元120包括自身AL计算单元122和用于计算自身AL和对方AL的对方AL计算单元124以及用于通过所使用的参数加权来对自身AL和对方AL进行加和的AL积分单元125 用于确定是否重点放在自我状态或对方的状态，以输出最终的AL。 对应物是机器人装置相互作用的主体。 自身AL和对方AL分别指示执行行为的优先级，并以co8unbterpart作为参考。

公开(公告)号：US20050187661A1

公开(公告)日：2005-08-25

申请号：US11099111

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.

公开(公告)号：US20050187660A1

公开(公告)日：2005-08-25

申请号：US11099038

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.

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，CPU 15使 时间和日期数据以及与图像数据相关联的存储卡13中的感觉参数。 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。

公开(公告)号：US20050187659A1

公开(公告)日：2005-08-25

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： 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。

公开(公告)号：US06934604B1

公开(公告)日：2005-08-23

申请号：US09530143

申请日：1999-09-10

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 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： 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。

公开(公告)号：US20050171640A1

公开(公告)日：2005-08-04

申请号：US11097504

申请日：2005-04-01

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.