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US 6,445,978 B1Granted
Robot device and method for controlling the same
AssigneeSony Corporation
InventorsSeiichi Takamura, Noriaki Sakabe
Life of this patent
Estimating the term…
Abstract
In a robot and its control method the behavior and motion models functioning as bases in generating behaviors and motions of the robot are transformed based on the input history from the outside and the history of its own behaviors and motions.
Claims22
A robot comprising:
- behavior and/or motion generating means for generating behaviors and/or motions based on behavior and/or motion models;
- and
- behavior and/or motion model transforming means for transforming said behavior and/or motion models into behavior and/or motion models of a higher growth level at a given timing selectively based on an input history supplied from outside the robot or the history of the robot's evaluation of the robot's own behaviors and/or motions.
A robot comprising:
- behavior and/or motion generating means for generating behaviors and/or motions based on behavior and/or motion models;
- and
- behavior and/or motion model transforming means for transforming said behavior and/or motion models into behavior and/or motion models of a higher growth level at a given timing selectively based on an input history supplied from outside the robot and the history of the robot's behaviors and/or motions,
- wherein said behavior and/or motion models include state nodes and state transition models representing behaviors and/or motions in terms of arcs, and
- said behavior and/or motion transforming means selects said arc based on the probability set for each of a plurality of said arcs and/or weighting coefficients.
2 more elements
A robot comprising:
- behavior and/or motion generation means for generating behaviors and/or motions based on behavior and/or motion models,
- first transforming means for transforming in order said behavior and/or motion models into behavior and/or motion models of a higher growth level according to first given conditions, and
- second transforming means for transforming said behavior and/or motion models into other behavior and/or motion models of an equal or a lower growth level according to second given conditions selectively based on an input history supplied from outside the robot or the history of the robot's evaluation of the robot's behaviors and/or motions.
A robot comprising:
- behavior and/or motion generation means for generating behaviors and/or motions based on the behavior and/or motion models,
- behavior and/or motion transforming means for transforming said behavior and/or motion models into behavior and/or motion models of a higher growth level at a given timing based on appraisal results by appraising the robot's own behaviors based on given appraisal functions.
A robot having a plurality of behavior and/or motion models of a plurality of behavior patterns, comprising;
- behavior and/or motion generating means for generating a behavior and/or motion based on each of said behavior and/or motion models of corresponding said behavior pattern, and
- transforming means for transforming each of said behavior and/or motion models of corresponding said behavior pattern according to influence from the outside,
- said transforming means,
- transforms each of said behavior and/or motion models of corresponding said behavior pattern by different regulations preset for each of said behavior and/or motion models.
1 more element
A control method of a robot comprising the steps of:
- generating behaviors and/or motions based on behavior and/or motion models;
- and
- transforming said behavior and/or motion models into behavior and/or motion models of a higher growth level at a given timing selectively based on an input history supplied from outside the robot or the history of the robot's evaluation of the robot's behaviors and motions.
A control method of a robot comprising the steps of:
- generating behaviors and/or motions based on behavior and/or motion models;
- transforming said behavior and/or motion models into behavior and/or motion models of a higher growth level at a given timing selectively based on an input history supplied from outside the robot or the history of the robot's behaviors and motions, wherein
- said behavior and/or motion models include state nodes and state transition models representing behaviors and/or motions in terms of arcs;
- and
- selecting an arc from among said arcs based on a probability and/or weighting coefficient preset for each of a plurality of said arcs.
2 more elements
A control method of a robot comprising the steps of:
- generating behaviors and/or motions based on behavior and/or motion models;
- and
- transforming said behavior and/or motion models into behavior and/or motion models of a higher growth level in order according to first given conditions, wherein said behavior and/or motion models are transformed into different behavior and/or motion models of an equal or lower growth level according to second given conditions selectively based on an input history supplied from outside the robot or the history of the robot's evaluation of the robot's behaviors and motions.
A control method of a robot comprising the steps of:
- generating behaviors and/or motions based on behavior and/or motion models;
- and
- transforming said behavior and motion models into said behavior and motion models of a higher growth level at a given timing based on appraisal results obtained by appraising the robot's own behaviors based on given appraisal functions.
A control method of a robot characterized in that;
- a plurality of behavior and/or motion models are provided for a plurality of behavior models, and comprising;
- first step wherein behaviors and/or motions are generated based on said behavior and/or motion models of the corresponding behavior patterns
- second step wherein said behavior and/or motion models of the corresponding said behavior patterns are transformed according to the influence from the outside, and characterized by;
- said second step wherein,
- each of said behavior and/or motion models of the corresponding behaviors patterns is altered by different regulations preset for each of said behavior and/or motion models.
2 more elements
A robot comprising:
- a memory for storing behavior and/or motion models to be used as a basis for generating behavior and/or motions;
- and
- a controller for transforming said behavior and/or motion models into behavior and/or motion models of a higher growth level at a given timing selectively based on an input history supplied from outside the robot or the history of the robot's evaluation of the robot's own behaviors and/or motions.
A robot comprising:
- a main body;
- a plurality of components connected to said main body;
- behavior and/or motion generation means for generating behaviors and/or motions based on behavior and/or motion models;
- behavior and/or motion model transforming means for transforming said behavior and/or motion models into behavior and/or motion models of a higher growth level at a given timing selectively based on an input history supplied from outside the robot or the history of the robot's evaluation of the robot's own behaviors and/or motions;
- and
- control means for controlling said components to generate behavior and/or actions in accordance with said growth level based on said behavior and/or motion model.
3 more elements
Dependencies are inferred from the claim text.