公开(公告)号：US20150202777A1

公开(公告)日：2015-07-23

申请号：US14672291

申请日：2015-03-30

申请人： Sony Corporation

发明人： Genta Kondo ,  Atsushi Miyamoto ,  Satoru Shimizu

IPC分类号： B25J9/16

CPC分类号： B25J9/1697 ,  G05B2219/37555 ,  G05B2219/39449 ,  G05B2219/40099 ,  G05B2219/40298 ,  G05B2219/45108

摘要： A robot apparatus includes an output unit that displays an image including an object on a screen, an input unit that receives an operation performed by a user for specifying information relating to an approximate range including the object in the image, an object extraction unit that extracts information regarding a two-dimensional contour of the object on the basis of the specification received by the input unit, and a position and attitude estimation unit that estimates information regarding a three-dimensional position and attitude of the object on the basis of the information regarding the two-dimensional contour.

摘要翻译： 机器人装置包括：输出单元，其在屏幕上显示包括对象的图像;输入单元，其接收用户执行的用于指定与图像中包含对象的近似范围有关的信息的操作;对象提取单元，其提取 基于由输入单元接收的规格的关于对象的二维轮廓的信息，以及位置和姿态估计单元，其基于关于对象的信息来估计关于对象的三维位置和姿态的信息 二维轮廓。

公开(公告)号：US20130184867A1

公开(公告)日：2013-07-18

申请号：US13738485

申请日：2013-01-10

申请人： Samsung Electronics Co., Ltd.

发明人： Jun Won Jang ,  Kyung Shik Roh

IPC分类号： B25J9/16

CPC分类号： B25J9/163 ,  B25J9/1674 ,  G05B2219/33002 ,  G05B2219/33056 ,  G05B2219/45108

摘要： A robot and method to recognize and handle abnormal situations includes a sensing unit to sense internal and external information of the robot, a storage unit to store the information sensed by the sensing unit, an inference model, a learning model, services providable by the robot, subtasks to provide the services, and handling tasks to handle abnormal situations, and a controller to determine whether an abnormal situation has occurred while the subtasks to provide the selected service are being performed through the learning model in the storage unit and to select a handling task to handle the abnormal situation through the inference model in the storage unit if it is determined that the abnormal situation occur. The robot may recognize and handle abnormal situations even though data other than that defined by a designer of the robot is input thereto due to noises or operational environment.

摘要翻译： 用于识别和处理异常情况的机器人和方法包括用于感测机器人的内部和外部信息的感测单元，用于存储由感测单元感测的信息的存储单元，推理模型，学习模型，机器人可提供的服务 提供服务的子任务，以及处理异常情况的处理任务，以及控制器，用于在通过存储单元中的学习模型执行提供所选服务的子任务时，确定是否发生异常情况，并选择处理 如果确定异常情况发生，则通过存储单元中的推理模型处理异常情况的任务。 即使由于机器人的设计者定义的数据，由于噪声或操作环境，机器人也可以识别和处理异常情况。

公开(公告)号：US20130066467A1

公开(公告)日：2013-03-14

申请号：US13696985

申请日：2011-03-29

申请人： Se Kyong Song ,  Jun Young Lee

发明人： Se Kyong Song ,  Jun Young Lee

IPC分类号： G06F19/00

CPC分类号： B25J9/1656 ,  G05B2219/40393 ,  G05B2219/40411 ,  G05B2219/45108

摘要： The present invention relates to a service scenario editing apparatus for an intelligent robot, to a method for same, to an intelligent robot apparatus and to a service providing method for an intelligent robot. More particularly, the service scenario editing apparatus comprises: an event editing unit which enables an inputted event and a service providing action to correspond to one another in consideration of a variety of environments, users, states or the like, in order to set states, and interconnects the set states with each other such that the event being inputted to the intelligent robot is edited to enable the intelligent robot to provide a service in accordance with the scenario established by a user, an action editing unit which edits an action of the intelligent robot for providing a service; a state editing unit which interconnects the event edited by the event editing unit and the action edited by the action editing unit; and a scenario editing unit which interconnects the states edited by the state editing unit to edit a service scenario for an intelligent robot apparatus.

摘要翻译： 智能机器人的服务场景编辑装置，智能机器人装置及其智能机器人的服务提供方法技术领域本发明涉及一种智能机器人的服务场景编辑装置，智能机器人的智能机器人装置及其服务提供方法。 更具体地，服务场景编辑装置包括：事件编辑单元，其能够考虑到各种环境，用户，状态等使输入事件和服务提供动作彼此对应，以便设置状态， 并且将设置状态互相互连，使得编辑输入到智能机器人的事件，以使得智能机器人能够根据由用户建立的场景提供服务，动作编辑单元编辑智能机器人的动作 机器人提供服务; 状态编辑单元，其将由事件编辑单元编辑的事件与由动作编辑单元编辑的动作相互连接; 以及场景编辑单元，其将由状态编辑单元编辑的状态互连，以编辑智能机器人装置的服务场景。

公开(公告)号：US20120101632A1

公开(公告)日：2012-04-26

申请号：US13277436

申请日：2011-10-20

申请人： Tae Sin HA ,  Kyung Shik ROH ,  Dong Min SHIN

发明人： Tae Sin HA ,  Kyung Shik ROH ,  Dong Min SHIN

IPC分类号： B25J9/16

CPC分类号： B25J9/162 ,  B25J9/1669 ,  B25J9/1682 ,  G05B2219/40298 ,  G05B2219/45108

摘要： A crosswalk walking assistance system to assist a pedestrian by moving a movable robot along with the pedestrian along a boundary of a crosswalk when the pedestrian crosses at the crosswalk, and a method of controlling the same. The crosswalk walking assistance system includes guide rails formed along boundary lines of a crosswalk, robots moving along the guide rails, and a controller connected to the guide rails.

摘要翻译： 人行横道步行辅助系统，当行人在人行横道交叉时，通过沿人行横道的边界与行人一起移动可移动机器人来辅助行人，以及一种控制行人的方法。 人行横道步行辅助系统包括沿着人行横道的边界线形成的导轨，沿着导轨移动的机器人以及连接到导轨的控制器。

公开(公告)号：US20090210090A1

公开(公告)日：2009-08-20

申请号：US12032919

申请日：2008-02-18

申请人： Mori Takemitsu ,  Steven F. Kalik

发明人： Mori Takemitsu ,  Steven F. Kalik

IPC分类号： G06F17/00

CPC分类号： B25J9/1661 ,  G05B2219/40298 ,  G05B2219/40543 ,  G05B2219/45108

摘要： An example method for allowing a robot to assist with a task, the task being carried out in an environment including one or more non-human objects each having associated object locations, comprises detecting one or more changes in object locations within the environment, predicting a task requirement (such as a future object location change, or task goal) by comparing the change in the object location with stored data, the stored data including object location changes associated with previously observed tasks; and providing robotic assistance to achieve the task requirement. Example apparatus are also disclosed.

摘要翻译： 一种用于允许机器人协助任务的示例性方法，所述任务在包括一个或多个具有相关联对象位置的非人类对象的环境中执行，包括检测所述环境内的对象位置中的一个或多个变化，预测 通过将对象位置的变化与存储的数据进行比较，存储的数据包括与先前观察到的任务相关联的对象位置变化的任务要求（诸如未来对象位置改变或任务目标）; 并提供机器人辅助来实现任务要求。 还公开了示例性装置。

公开(公告)号：US09962839B2

公开(公告)日：2018-05-08

申请号：US15359939

申请日：2016-11-23

申请人： Sony Corporation

发明人： Genta Kondo ,  Atsushi Miyamoto ,  Satoru Shimizu

IPC分类号： B25J9/16

CPC分类号： B25J9/1697 ,  G05B2219/37555 ,  G05B2219/39449 ,  G05B2219/40099 ,  G05B2219/40298 ,  G05B2219/45108

摘要： A robot apparatus includes an output unit that displays an image including an object on a screen, an input unit that receives an operation performed by a user for specifying information relating to an approximate range including the object in the image, an object extraction unit that extracts information regarding a two-dimensional contour of the object on the basis of the specification received by the input unit, and a position and attitude estimation unit that estimates information regarding a three-dimensional position and attitude of the object on the basis of the information regarding the two-dimensional contour.

公开(公告)号：US09943459B2

公开(公告)日：2018-04-17

申请号：US14549370

申请日：2014-11-20

申请人： The University of Maryland, Baltimore ,  The United States of America as represented by the Department of Veterans Affairs

发明人： Anindo Roy ,  Larry W. Forrester ,  Richard F. Macko

IPC分类号： A61H3/00 ,  A61H1/02 ,  B25J9/16

CPC分类号： A61H3/00 ,  A61H1/02 ,  A61H1/024 ,  A61H1/0266 ,  A61H2201/1215 ,  A61H2201/149 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5002 ,  A61H2201/5007 ,  A61H2201/5069 ,  A61H2201/5097 ,  B25J9/1615 ,  G05B2219/39332 ,  G05B2219/40305 ,  G05B2219/45108

摘要： A method includes determining, on a processor, a current movement phase for a compound joint function based on sensor data. The method further includes determining, on the processor, a respective robot state parameter trace for each movement phase in a normal and impaired subject. The method further includes determining, on the processor, a deficit parameter for each movement phase. The method further includes determining, on the processor, an adaptive magnitude for the robot applied torque based on the deficit parameter of the current movement phase. The method further includes applying, to the robot joint, the adaptive magnitude for the robot applied torque for the current movement phase, based on an adaptive timing for the current movement phase. An apparatus is also described for providing deficit-adjusted adaptive assistance during movement phases of the impaired joint.

公开(公告)号：US20160082590A1

公开(公告)日：2016-03-24

申请号：US14961128

申请日：2015-12-07

申请人： c/o SONY CORPORATION

发明人： Yasunori Kawanami ,  Toshimitsu Tsuboi ,  Tsutomu Sawada ,  Masakuni Nagano ,  Akinori Kamoda

IPC分类号： B25J9/16 ,  G06K9/00

CPC分类号： B25J9/1612 ,  B25J9/1669 ,  B25J9/1697 ,  G05B2219/37567 ,  G05B2219/39536 ,  G05B2219/40298 ,  G05B2219/45108 ,  G06K9/00664 ,  Y10S901/02 ,  Y10S901/09

摘要： A robot apparatus includes: a grasping section configured to grasp an object; a recognition section configured to recognize a graspable part and a handing-over area part of the object; a grasp planning section configured to plan a path of the grasping section for handing over the object to a recipient by the handing-over area part; and a grasp control section configured to control grasp operation of the object by the grasping section in accordance with the planned path.

公开(公告)号：US20150141878A1

公开(公告)日：2015-05-21

申请号：US14549370

申请日：2014-11-20

申请人： The University of Maryland, Baltimore ,  The United States of America as represented by the Department of Veterans Affairs

发明人： Anindo Roy ,  Larry W. Forrester ,  Richard F. Macko

IPC分类号： A61H3/00 ,  G05B13/02

CPC分类号： A61H3/00 ,  A61H1/02 ,  A61H1/024 ,  A61H1/0266 ,  A61H2201/1215 ,  A61H2201/149 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5002 ,  A61H2201/5007 ,  A61H2201/5069 ,  A61H2201/5097 ,  B25J9/1615 ,  G05B2219/39332 ,  G05B2219/40305 ,  G05B2219/45108

摘要： A method is described for providing deficit-adjusted adaptive assistance during movement phases of an impaired joint. The method includes determining, on a processor, a current movement phase for a compound joint function based on sensor data. The method further includes determining, on the processor, a respective robot state parameter trace for each movement phase in a normal and impaired subject. The method further includes determining, on the processor, a deficit parameter for each movement phase. The method further includes determining, on the processor, an adaptive magnitude for the robot applied torque based on the deficit parameter of the current movement phase. The method further includes applying, to the robot joint, the adaptive magnitude for the robot applied torque for the current movement phase, based on an adaptive timing for the current movement phase. An apparatus is also described for providing deficit-adjusted adaptive assistance during movement phases of the impaired joint.

摘要翻译： 描述了一种在受损关节的运动阶段提供赤字调节的适应性辅助的方法。 该方法包括在处理器上确定基于传感器数据的复合关节功能的当前移动阶段。 该方法还包括在处理器上确定正常和受损对象中的每个运动阶段的相应机器人状态参数跟踪。 该方法还包括在处理器上确定每个移动阶段的缺陷参数。 该方法还包括在处理器上基于当前移动阶段的缺陷参数来确定机器人施加的扭矩的自适应大小。 该方法还包括基于当前运动阶段的自适应定时向机器人关节应用针对当前运动阶段的机器人施加扭矩的自适应大小。 还描述了一种用于在受损关节的运动阶段期间提供赤字调节的适应性辅助的装置。

公开(公告)号：US08996176B2

公开(公告)日：2015-03-31

申请号：US13776763

申请日：2013-02-26

申请人： Sony Corporation

发明人： Genta Kondo ,  Atsushi Miyamoto ,  Satoru Shimizu

IPC分类号： G01B11/24 ,  B25J9/16

CPC分类号： B25J9/1697 ,  G05B2219/37555 ,  G05B2219/39449 ,  G05B2219/40099 ,  G05B2219/40298 ,  G05B2219/45108

摘要： A robot apparatus includes an output unit that displays an image including an object on a screen, an input unit that receives an operation performed by a user for specifying information relating to an approximate range including the object in the image, an object extraction unit that extracts information regarding a two-dimensional contour of the object on the basis of the specification received by the input unit, and a position and attitude estimation unit that estimates information regarding a three-dimensional position and attitude of the object on the basis of the information regarding the two-dimensional contour.

摘要翻译： 机器人装置包括：输出单元，其在屏幕上显示包括对象的图像;输入单元，其接收用户执行的用于指定与图像中包含对象的近似范围有关的信息的操作;对象提取单元，其提取 基于由输入单元接收的规格的关于对象的二维轮廓的信息，以及位置和姿态估计单元，其基于关于对象的信息来估计关于对象的三维位置和姿态的信息 二维轮廓。