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US 11,633,863 B2Granted
Condition-based robot audio techniques
OwnerJason Wolford, Ben Gabaldon +2inventors
InventorsJason Wolford, Ben Gabaldon, Jordan Rivas, Brian Min
Life of this patent
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Abstract
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for audio augmentation of physical robot sounds. A robot can determine that a first physically moveable component of the robot is to be actuated and in response, obtain a conditional state of the robot. The robot can obtain an audio object that generates an audio enhancement for the first physically moveable component being actuated, the audio enhancement having one or more characteristics that match the obtained conditional state of the robot. The robot can output the audio enhancement while actuating the first physically moveable component.
Claims22
A robot comprising:
- one or more physically moveable components;
- one or more speakers;
- one or more processors;
- and
- one or more storage devices storing instructions that are operable, when executed by the one or more processors, to cause the robot to perform operations comprising:
- determining that a first physically moveable component of the one or more physically moveable components is to be actuated;
- obtaining a conditional state of the robot, which conditional state matches a sentiment of music playing in an environment around the robot;
- obtaining an audio object that generates a non-text-to-speech audio enhancement for the first physically moveable component being actuated, the audio enhancement having a blend of one or more characteristics that match the obtained conditional state and the audio enhancement simulates a sound produced by actuating the first physically moveable component;
- initiating actuation of the first physically moveable component;
- and
- providing the audio object as input to the one or more speakers to output the audio enhancement for the first physically moveable component at least partially concurrently with actuating the first physically moveable component.
8 more elements
A method comprising:
- determining that a first physically moveable component of the one or more physically moveable components is to be actuated;
- obtaining a conditional state of the robot, which conditional state matches a sentiment of music playing in an environment around the robot;
- obtaining an audio object that generates a non-text-to-speech audio enhancement for the first physically moveable component being actuated, the audio enhancement having a blend of one or more characteristics that match the obtained conditional state and the audio enhancement simulates a sound produced by actuating the first physically moveable component;
- initiating actuation of the first physically moveable component;
- and
- providing the audio object as input to the one or more speakers to output the audio enhancement for the first physically moveable component at least partially concurrently with actuating the first physically moveable component.
3 more elements
A non-transitory computer readable medium encoded with a computer program, the program comprising
- instructions that are operable, when executed by a robot comprising one or more processors, to cause the robot to perform the method of:
- determining that a first physically moveable component of one or more physically moveable components is to be actuated;
- obtaining a conditional state of the robot, which conditional state matches a sentiment of music playing in an environment around the robot;
- obtaining an audio object that generates a non-text-to speech audio enhancement for the first physically moveable component being actuated, the audio enhancement having a blend of one or more characteristics that match the obtained conditional state and the audio enhancement simulates a sound produced by actuating the first physically moveable component;
- initiating actuation of the first physically moveable component;
- and
- providing the audio object as input to one or more speakers to output the audio enhancement for the first physically moveable component at least partially concurrently with actuating the first physically moveable component.
4 more elements
A robot comprising:
- one or more speakers;
- one or more processors;
- and
- one or more storage devices storing instructions that are operable, when executed by the one or more processors, to cause the robot to perform operations comprising:
- determining that a selected action includes outputting non-text-to-speech audio output using the one or more speakers;
- obtaining a conditional state of the robot, which conditional state matches a sentiment of music playing in an environment around the robot;
- obtaining an audio object for generating non-text-to-speech audio output having a blend of one or more characteristics that match the obtained conditional state and the audio enhancement simulates a sound produced by actuating the first physically moveable component;
- and
- providing the audio object as input to the one or more speakers to output audio having the one or more characteristics that match the obtained conditional state.
6 more elements
A robot comprising:
- one or more physically moveable components;
- one or more speakers;
- one or more processors;
- and
- one or more storage devices storing instructions that are operable, when executed by the one or more processors, to cause the robot to perform operations comprising:
- determining that a first physically moveable component of the one or more physically moveable components is to be actuated;
- obtaining a conditional state of the robot from at least one touch detection subsystem, which conditional state matches a sentiment of a touch from at least one person in an environment around the robot;
- obtaining an audio object that generates a non-text-to-speech audio enhancement for the first physically moveable component being actuated, the audio enhancement having a blend of one or more characteristics that match the obtained conditional state and the audio enhancement simulates a sound produced by actuating the first physically moveable component;
- initiating actuation of the first physically moveable component;
- and
- providing the audio object as input to the one or more speakers to output the audio enhancement for the first physically moveable component at least partially concurrently with actuating the first physically moveable component.
8 more elements
A method comprising:
- determining that a first physically moveable component of the one or more physically moveable components is to be actuated;
- obtaining a conditional state of a robot from at least one touch detection subsystem, which conditional state matches a sentiment of a touch from at least one person in an environment around the robot;
- obtaining an audio object that generates a non-text-to-speech audio enhancement for the first physically moveable component being actuated, the audio enhancement having a blend of one or more characteristics that match the obtained conditional state and the audio enhancement simulates a sound produced by actuating the first physically moveable component;
- initiating actuation of the first physically moveable component;
- and
- providing the audio object as input to the one or more speakers to output the audio enhancement for the first physically moveable component at least partially concurrently with actuating the first physically moveable component.
3 more elements
A non-transitory computer readable medium encoded with a computer program, the program comprising
- instructions that are operable, when executed by a robot comprising one or more processors, to cause the robot to perform the method of:
- determining that a first physically moveable component of one or more physically moveable components is to be actuated;
- obtaining a conditional state of the robot from at least one touch detection subsystem, which conditional state matches a sentiment of a touch from a person in an environment around the robot;
- obtaining an audio object that generates a non-text-to speech audio enhancement for the first physically moveable component being actuated, the audio enhancement having a blend of one or more characteristics that match the obtained conditional state and the audio enhancement simulates a sound produced by actuating the first physically moveable component;
- initiating actuation of the first physically moveable component;
- and
- providing the audio object as input to one or more speakers to output the audio enhancement for the first physically moveable component at least partially concurrently with actuating the first physically moveable component.
4 more elements
A robot comprising:
- one or more speakers;
- one or more processors;
- and
- one or more storage devices storing instructions that are operable, when executed by the one or more processors, to cause the robot to perform operations comprising:
- determining that a selected action includes outputting non-text-to-speech audio output using the one or more speakers;
- obtaining a conditional state of the robot from at least one touch detection subsystem, which conditional state matches a sentiment of a touch from a person in an environment around the robot;
- obtaining an audio object for generating non-text-to-speech audio output having a blend of one or more characteristics that match the obtained conditional state and an audio enhancement that simulates a sound produced by actuating a first physically moveable component on the robot;
- and
- providing the audio object as input to the one or more speakers to output audio having the one or more characteristics that match the obtained conditional state.
6 more elements
Dependencies are inferred from the claim text.