公开(公告)号：US06411055B1

公开(公告)日：2002-06-25

申请号：US09197332

申请日：1998-11-20

申请人： Masahiro Fujita ,  Kazufumi Oyama ,  Takashi Yamamoto

发明人： Masahiro Fujita ,  Kazufumi Oyama ,  Takashi Yamamoto

IPC分类号： B25J500

CPC分类号： B25J9/1679 ,  G05B2219/40302 ,  G05B2219/40304

摘要： A modular robot system is provided with memory means for memorizing task information concerning task of each component unit and the recognition means for recognizing the task of each component unit based on the task information of each component unit. Further, the modular robot system is provided with linkage condition detection means for detecting the linkage condition of each component unit, memory means for memorizing the linkage condition of each component unit every category, of which the configuration of robot system to be assembled is classified into multiple categories according to the linkage condition of each component unit, and judgment means for judging the category of the robot system to be assembled based on the linkage condition of each component unit detected by the linkage condition detection means and the linkage condition of each component unit every category memorized by the memory means.

摘要翻译： 模块化机器人系统设置有用于存储与每个组件单元的任务相关的任务信息的存储装置和用于基于每个组件单元的任务信息来识别每个组件单元的任务的识别装置。 此外，模块化机器人系统设置有用于检测每个部件单元的联动状态的联动条件检测装置，用于存储每个部件单元每个类别的联动状态的存储装置，其中将组装的机器人系统的配置分类为 根据各组件单元的联动状态的多个类别，以及判断单元，其基于由联动条件检测单元检测出的各个单元单元的联动条件和各组件单元的联动条件，判断要组装的机器人系统的类别 存储器记忆的每个类别。

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。

公开(公告)号：US06321140B1

公开(公告)日：2001-11-20

申请号：US09215702

申请日：1998-12-18

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 device having a plurality of component units connected together and controller detachably mounted on one of the component units for driving and controlling each the component units in a prescribed state. The control device is easily exchangeable for another control device. The robot device may further include a storing device detachably mounted on the respective component unit for storing desired behavior type information. The storing device is readily exchangeable for another storing device having stored therein different behavior type information.

摘要翻译： 一种具有连接在一起的多个部件单元和可拆卸地安装在其中一个部件单元上的机器人装置，用于在规定状态下驱动和控制每个部件单元。 控制装置可以方便地与另一个控制装置交换。 机器人装置还可以包括可拆卸地安装在相应的部件单元上的存储装置，用于存储期望的行为类型信息。 存储装置可以容易地与存储有不同行为类型信息的存储装置交换。

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。

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。

公开(公告)号：US06983231B2

公开(公告)日：2006-01-03

申请号：US09958244

申请日：2001-02-09

申请人： Hideki Noma ,  Masahiro Fujita ,  Makoto Inoue ,  Noritoshi Inoue ,  Katsuya Muramatsu ,  Masashi Takeda

发明人： Hideki Noma ,  Masahiro Fujita ,  Makoto Inoue ,  Noritoshi Inoue ,  Katsuya Muramatsu ,  Masashi Takeda

IPC分类号： G06G7/48

CPC分类号： G06N3/006 ,  G06N3/126

摘要： In an information processing device and method, and programs, firstly, new second inheritance data is created based on first inheritance data regulating the shape and/or behaviors of a virtual creature and secondly, the gene data of the virtual creature is diagnosed and a given value added is applied to the virtual creature when it is determined based on the diagnostic result that the gene data satisfies predetermined conditions and thirdly, information on parents of virtual creatures which are sequentially created by mixing and registered, is stored and a pedigree of a designated virtual creature is inquired into based on the information. On the other hand, a data storing device is provided with a first storage means for storing inheritance data to regulate the shape and/or behaviors of a virtual creature, a communication means for transmitting/receiving inheritance data to/from the outside, and a second storing means for storing the inheritance data of other virtual creatures via the communication means.