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：US06862497B2

公开(公告)日：2005-03-01

申请号：US10343525

申请日：2002-06-03

申请人： Thomas Kemp ,  Ralf Kompe ,  Raquel Tato ,  Masahiro Fujita ,  Katsuki Minamino ,  Kenta Kawamoto ,  Rika Horinaka

发明人： Thomas Kemp ,  Ralf Kompe ,  Raquel Tato ,  Masahiro Fujita ,  Katsuki Minamino ,  Kenta Kawamoto ,  Rika Horinaka

IPC分类号： B62D57/02 ,  B62D57/032 ,  G05B13/02 ,  G05B19/042 ,  G05B15/00 ,  G05B19/33

CPC分类号： G05B19/042 ,  B62D57/02 ,  B62D57/032 ,  G05B13/0265

摘要： There is proposed a method that may be universally used for controlling a man-machine interface unit. A learning sample is used in order at least to derive and/or initialize a target action (t) to be carried out and to lead the user from an optional current status (ec) to an optional desired target status (et) as the final status (ef). This learning sample (l) is formed by a data triple made up by an initial status (ei) before an optional action (a) carried out by the user, a final status (ef) after the action taken place (a).

摘要翻译： 提出了可以普遍地用于控制人机接口单元的方法。 至少使用学习样本来导出和/或初始化要执行的目标动作（t），并且将用户从可选的当前状态（ec）引导到可选的期望目标状态（et），作为最终的 状态（ef）。 该学习样本（l）由在用户执行的可选动作（a）之前由初始状态（ei）组成的数据三进制形成，（a）动作之后的最终状态（ef）。

公开(公告)号：US06718232B2

公开(公告)日：2004-04-06

申请号：US10149996

申请日：2002-09-24

申请人： Masahiro Fujita ,  Tsuyoshi Takagi ,  Rika Horinaka ,  Jun Yokono ,  Gabriel Costa ,  Hideki Shimomura ,  Katsuki Minamino

发明人： Masahiro Fujita ,  Tsuyoshi Takagi ,  Rika Horinaka ,  Jun Yokono ,  Gabriel Costa ,  Hideki Shimomura ,  Katsuki Minamino

IPC分类号： G06F1900

CPC分类号： G06N3/008 ,  B25J9/1602 ,  G05B2219/33053 ,  G05B2219/33056 ,  G05B2219/35453 ,  G05B2219/39254

摘要： A robot apparatus causes the emotion in a feeling part (130) to be changed based on the information acquired by a perception part (120) to manifest the behavior of information acquisition as autonomous behavior. The robot apparatus includes a behavior control part for causing the robot apparatus to manifest a language acquisition behavior and a meaning acquisition part. The robot apparatus also includes a control part for performing the behavior control of pointing its object of learning. The robot apparatus causes changes in internal states, which are ascribable to the object, to be stored in a memory part in association with the object.

摘要翻译： 机器人装置根据感知部分（120）获取的信息，使感觉部分（130）中的情感发生变化，从而将信息获取的行为表现为自主行为。 机器人装置包括使机器人装置显示语言获取行为和意义获取部分的行为控制部。 机器人装置还包括用于执行指向其学习对象的行为控制的控制部分。 机器人装置使得归因于对象的内部状态的变化被存储在与对象相关联的存储器部分中。

公开(公告)号：US06754560B2

公开(公告)日：2004-06-22

申请号：US09980132

申请日：2002-03-14

申请人： Masahiro Fujita ,  Tsuyoshi Takagi ,  Rika Hasegawa ,  Osamu Hanagata ,  Jun Yokono ,  Gabriel Costa ,  Hideki Shimomura

发明人： Masahiro Fujita ,  Tsuyoshi Takagi ,  Rika Hasegawa ,  Osamu Hanagata ,  Jun Yokono ,  Gabriel Costa ,  Hideki Shimomura

IPC分类号： G06F1900

CPC分类号： G06K9/6288 ,  B25J13/003 ,  B25J13/08 ,  G05B2219/35453 ,  G05B2219/40201 ,  G06N3/008 ,  G10L15/26

摘要： A robot is proposed which has a speech recognition unit to detect information supplied simultaneously with or just before or after detection of a touch by a touch sensor, an associative memory/recall memory to store action made correspondingly to the touch and input information (speech signal) detected by the speech recognition unit in association with each other, and an action generator to control the robot to make action recalled by the associative memory/recall memory based on a newly acquired input information (speech signal). The robot has also a sensor data processor to allow the robot to act correspondingly to the touch detection by the touch sensor. Thus, the robot can learn action in association with an input signal such as speech signal.

摘要翻译： 提出了一种机器人，其具有语音识别单元，用于检测由触摸传感器检测到触摸之前或之后提供的信息;相关存储器/回忆存储器，用于存储对应于触摸和输入信息（语音信号 ），以及动作发生器，其基于新获取的输入信息（语音信号），控制所述机器人使由所述关联存储器/召回存储器进行动作调用。 机器人还具有传感器数据处理器，以允许机器人相应地通过触摸传感器进行触摸检测。 因此，机器人可以与诸如语音信号的输入信号相关联地学习动作。

公开(公告)号：US20050187662A1

公开(公告)日：2005-08-25

申请号：US11099139

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：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

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：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

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：US06668211B1

公开(公告)日：2003-12-23

申请号：US09623972

申请日：2000-10-23

申请人： Masahiro Fujita ,  Takayuki Sakamoto ,  Kotaro Sabe ,  Tsuyoshi Takagi

发明人： Masahiro Fujita ,  Takayuki Sakamoto ,  Kotaro Sabe ,  Tsuyoshi Takagi

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。

公开(公告)号：US06650965B2

公开(公告)日：2003-11-18

申请号：US09979434

申请日：2002-03-13

申请人： Tsuyoshi Takagi ,  Masahiro Fujita ,  Rika Hasegawa ,  Kotaro Sabe ,  Craig Ronald Arkin

发明人： Tsuyoshi Takagi ,  Masahiro Fujita ,  Rika Hasegawa ,  Kotaro Sabe ,  Craig Ronald Arkin

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。