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：US07103447B2

公开(公告)日：2006-09-05

申请号：US10651577

申请日：2003-08-29

申请人： Ugo Di Profio ,  Masahiro Fujita ,  Tsuyoshi Takagi ,  Yukiko Yoshiike ,  Hideki Shimomura

发明人： Ugo Di Profio ,  Masahiro Fujita ,  Tsuyoshi Takagi ,  Yukiko Yoshiike ,  Hideki Shimomura

IPC分类号： G06F19/00

CPC分类号： G06N3/008

摘要： A robot (1) is provided which includes a situated behaviors layer (SBL) (58). This SBL (58) is formed in the form of a tree structure in which a plurality of schemata (behavior modules) is connected hierarchically in such a matter that the schemata are highly independent of each other for each of them to behave uniquely. A patent schema can define a pattern in which child schemata are connected, such as an OR type pattern in which the child schemata are caused to behave uniquely, AND type pattern in which the plurality of child schemata are caused to behave simultaneously or a SEQUENCE type pattern indicating a sequence in which the plurality of child schemata should behave, thereby permitting to select a behavior pattern of the robot (1). Also, a new child schema can additionally be included in the SBL (58) without having to rewrite the schemata connection in the tree structure, whereby a new behavior or function can be added to the robot (1). Namely, the plurality of behavior modules permits to enable the robot (1) to show a complicated behavior and have units thereof recombined.

摘要翻译： 提供了一种包括位置行为层（SBL）（58）的机器人（1）。 该SBL（58）形成为树结构的形式，其中多个模式（行为模块）在层级上连接，使得模式对于它们中的每一个独立地彼此高度独立。 专利模式可以定义连接子模式的模式，例如使子模式在其中被执行为唯一的OR类型模式，以及使多个子模式被同时行为的类型模式或SEQUENCE类型 模式，其指示多个子图案应该行为的顺序，从而允许选择机器人（1）的行为模式。 另外，SBL（58）中还可以包括新的子模式，而不需要重写树形结构中的模式连接，从而可以向机器人（1）添加新的行为或功能。 也就是说，多个行为模块允许机器人（1）显示复杂的行为并且其单元重新组合。

公开(公告)号：US07813835B2

公开(公告)日：2010-10-12

申请号：US10477574

申请日：2003-03-17

申请人： Masahiro Fujita ,  Tsuyoshi Takagi ,  Rika Horinaka ,  Shinya Ohtani

发明人： Masahiro Fujita ,  Tsuyoshi Takagi ,  Rika Horinaka ,  Shinya Ohtani

IPC分类号： G06F19/00

CPC分类号： G06N3/008 ,  B25J9/1602 ,  B25J9/161 ,  B25J13/003 ,  G05B2219/33052 ,  G05B2219/39254

摘要： A behavior control system for a robot apparatus that operates autonomously. The behavior control system includes a plurality of behavior description sections for describing motions of the robot and an external environment recognition section. The system also includes an internal state management section for managing an internal state of the robot in response to the recognized external environment and/or a result of execution of a behavior, and for managing emotions. A behavior evaluation section evaluates execution of behaviors in response to the external environment and/or the internal state.

摘要翻译： 一种用于自主操作的机器人装置的行为控制系统。 行为控制系统包括用于描述机器人的运动和外部环境识别部分的多个行为描述部分。 该系统还包括用于响应于所识别的外部环境和/或行为的执行结果以及用于管理情绪来管理机器人的内部状态的内部状态管理部分。 行为评估部分评估响应于外部环境和/或内部状态的行为的执行。

公开(公告)号：US20060184273A1

公开(公告)日：2006-08-17

申请号：US10547922

申请日：2004-03-09

申请人： Tsutomu Sawada ,  Masahiro Fujita ,  Tsuyoshi Takagi

发明人： Tsutomu Sawada ,  Masahiro Fujita ,  Tsuyoshi Takagi

IPC分类号： G06F19/00

CPC分类号： B25J13/00 ,  G06N3/008

摘要： In a robot device, an action selecting/control system (100) includes a plurality of elementary action modules each of which outputs an action when selected, an activation level calculation unit (120) to calculate an activation level AL of each elementary action on the basis of information from an internal-state manager (91) and external-stimulus recognition unit (80) and with reference to a data base, and an action selector (130) to select an elementary action whose activation level AL is highest as an action to be implemented. Each action is associated with a predetermined internal state and external stimulus. The activation level calculation unit (120) calculates an activation level AL of each action on the basis of a predicted satisfaction0level variation based on the level of an instinct for an action corresponding to an input internal state and a predicted internal-state variation predictable based on an input external stimulus.

摘要翻译： 在机器人设备中，动作选择/控制系统（100）包括多个基本动作模块，每个基本动作模块在选择时输出动作;激活水平计算单元（120），用于计算每个基本动作的激活水平AL 来自内部状态管理器（91）和外部刺激识别单元（80）并参考数据库的信息的基础;以及动作选择器（130），其选择激活水平AL最高的基本动作作为动作 将要执行。 每个动作与预定的内部状态和外部刺激相关联。 激活级别计算单元（120）基于基于与输入内部状态相对应的动作的本能的级别和基于可预测的预测内部状态变化，基于预测的满足度水平变化来计算每个动作的激活水平AL 输入外部刺激。

公开(公告)号：US07853357B2

公开(公告)日：2010-12-14

申请号：US10547922

申请日：2004-03-09

申请人： Tsutomu Sawada ,  Masahiro Fujita ,  Tsuyoshi Takagi

发明人： Tsutomu Sawada ,  Masahiro Fujita ,  Tsuyoshi Takagi

IPC分类号： G05B13/02

CPC分类号： B25J13/00 ,  G06N3/008

摘要： In a robot device, an action selecting/control system includes a plurality of elementary action modules each of which outputs an action when selected. An activation level calculation unit calculates an activation level AL of each elementary action on the basis of information from an internal-state manager and external-stimulus recognition unit and with reference to a data base. An action selector selects an elementary action whose activation level AL is highest as an action to be implemented. Each action is associated with a predetermined internal state and external stimulus. The activation level calculation unit calculates an activation level AL of each action on the basis of a predicted satisfaction level variation based on the level of an instinct for an action corresponding to an input internal state and a predicted internal-state variation predictable based on an input external stimulus.

摘要翻译： 在机器人装置中，动作选择/控制系统包括多个基本动作模块，每个基本动作模块在选择时输出动作。 激活电平计算单元基于来自内部状态管理器和外部刺激识别单元的信息并参考数据库来计算每个基本动作的激活电平AL。 动作选择器选择其激活电平AL最高的基本动作作为要实现的动作。 每个动作与预定的内部状态和外部刺激相关联。 激活电平计算单元基于基于与输入内部状态相对应的动作的本能的电平和基于输入可预测的预测内部状态变化，基于预测的满足度变化来计算每个动作的激活水平AL 外部刺激。

公开(公告)号：US08582887B2

公开(公告)日：2013-11-12

申请号：US11813404

申请日：2005-12-26

申请人： Hirotaka Suzuki ,  Akira Nakamura ,  Takayuki Yoshigahara ,  Kohtaro Sabe ,  Masahiro Fujita

发明人： Hirotaka Suzuki ,  Akira Nakamura ,  Takayuki Yoshigahara ,  Kohtaro Sabe ,  Masahiro Fujita

IPC分类号： G06K9/00

CPC分类号： G06K9/00288 ,  G06K9/6211 ,  G06K9/623 ,  G06T7/00

摘要： The present invention relates to an image processing system, a learning device and method, and a program which enable easy extraction of feature amounts to be used in a recognition process. Feature points are extracted from a learning-use model image, feature amounts are extracted based on the feature points, and the feature amounts are registered in a learning-use model dictionary registration section 23. Similarly, feature points are extracted from a learning-use input image containing a model object contained in the learning-use model image, feature amounts are extracted based on these feature points, and these feature amounts are compared with the feature amounts registered in a learning-use model registration section 23. A feature amount that has formed a pair the greatest number of times as a result of the comparison is registered in the model dictionary registration section 12 as the feature amount to be used in the recognition process. The present invention is applicable to a robot.

摘要翻译： 本发明涉及图像处理系统，学习装置和方法以及能够容易地提取在识别处理中使用的特征量的程序。 从学习用模型图像提取特征点，基于特征点提取特征量，并且将特征量登记在学习用模型字典注册部23中。同样，从学习用途中提取特征点 基于这些特征点提取含有包含在学习用模型图像中的模型对象的输入图像，并将这些特征量与在学习用模型登记部23中登记的特征量进行比较。特征量 作为比较的结果，在模型字典登记部12中登记了作为识别处理中使用的特征量的最大次数的对。 本发明可应用于机器人。

公开(公告)号：US08405712B2

公开(公告)日：2013-03-26

申请号：US12233693

申请日：2008-09-19

申请人： Tsukasa Ike ,  Yasukazu Okamoto ,  Satoru Ishigaki ,  Kei Sakamoto ,  Masahiro Fujita ,  Hisashi Kazama

发明人： Tsukasa Ike ,  Yasukazu Okamoto ,  Satoru Ishigaki ,  Kei Sakamoto ,  Masahiro Fujita ,  Hisashi Kazama

IPC分类号： H04N7/18 ,  G06K9/00

CPC分类号： G06F3/017 ,  G06F3/012 ,  G06K9/00355

摘要： A gesture recognition apparatus including a detector, a controller and a gesture recognizer, and is able to detect a portion to be detected using an image captured at a first resolution without reducing the number of images to be entered per unit of time to an object detector by detecting an auxiliary portion instead when the portion to be detected is not detected at a second resolution, estimating the position of the auxiliary portion based on the position of the auxiliary portion, and extracting the periphery thereof from the image captured at the first resolution.

摘要翻译： 一种手势识别装置，包括检测器，控制器和手势识别器，并且能够使用以第一分辨率捕获的图像来检测要检测的部分，而不会将每单位时间输入的图像数量减少到对象检测器 通过在第二分辨率下未检测到要检测的部分的情况下检测辅助部分，基于辅助部分的位置估计辅助部分的位置，并且从以第一分辨率捕获的图像中提取其外围。

公开(公告)号：US08185336B2

公开(公告)日：2012-05-22

申请号：US12261062

申请日：2008-10-30

申请人： Yasuo Furukawa ,  Goerschwin Fey ,  Satoshi Komatsu ,  Masahiro Fujita

发明人： Yasuo Furukawa ,  Goerschwin Fey ,  Satoshi Komatsu ,  Masahiro Fujita

IPC分类号： G01R31/00 ,  G01R31/14 ,  G01R31/28

CPC分类号： G01R31/318307 ,  G01R31/3008 ,  G01R31/318342

摘要： Provided is a test apparatus that tests a device under test, including a vector expanding section that sequentially generates a plurality of test vectors; a predicting section that calculates a predicted value for each test vector by simulating an operation of the device under test, the predicted value indicating a prescribed characteristic value of the device under test to be measured while the device under test is supplied with a test signal corresponding to the test vector; a measuring section that obtains a measured value for each test vector by measuring the prescribed characteristic value of the device under test each time the device under test is supplied with a test vector; and a judging section that judges whether the device under test is defective based on a ratio between the predicted value and the measured value corresponding to each test vector.

摘要翻译： 提供了一种测试被测设备的测试设备，包括顺序地产生多个测试向量的向量扩展部分; 预测部，其通过模拟被测设备的动作来计算各测试矢量的预测值，所述预测值表示被测设备被测试设备的规定特征值，所述预测值被提供有对应的测试信号 到测试矢量; 测量部，其通过在每次向被测试装置供给测试矢量时，测量被测设备的规定特征值，求出各测试矢量的测量值; 以及判断部，其基于预测值和与各测试矢量对应的测量值之间的比率来判定被测设备是否有缺陷。

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。

公开(公告)号：US07216082B2

公开(公告)日：2007-05-08

申请号：US10296269

申请日：2002-03-26

申请人： Atsushi Okubo ,  Gabriel Costa ,  Kenta Kawamoto ,  Rika Horinaka ,  Masaki Fukuchi ,  Masahiro Fujita

发明人： Atsushi Okubo ,  Gabriel Costa ,  Kenta Kawamoto ,  Rika Horinaka ,  Masaki Fukuchi ,  Masahiro Fujita

IPC分类号： G10L15/22

CPC分类号： B25J13/003 ,  G10L15/26 ,  G10L2015/088 ,  G10L2015/223

摘要： A robot system includes a speech recognition unit for converting speech information into text information, and a database retrieval unit for extracting a keyword included in the text information from a database. By designating a plurality of basic actions on a speech basis, and storing an action record, a combined action formed by combining the plurality of basic actions in time-series order can be named as a new action only in voice-based interaction. A user can designate complicated continuous actions by using only one word, and can easily have a conversation with the robot.

摘要翻译： 机器人系统包括用于将语音信息转换为文本信息的语音识别单元，以及用于从数据库中提取包含在文本信息中的关键字的数据库检索单元。 通过在语音基础上指定多个基本动作，并且存储动作记录，通过以时间序列顺序组合多个基本动作形成的组合动作可以仅在基于语音的交互中被命名为新动作。 用户可以通过仅使用一个字来指定复杂的连续动作，并且可以容易地与机器人通话。