Robot device, robot device action control method, external force detecting device and external force detecting method

A method for controlling an action of a robot apparatus, the method comprising the steps of:

• detecting a touch made to the robot apparatus;
• detecting information supplied simultaneously with or just before or after the touch detection in the touch detecting step;
• storing action made in response to the touch detection in the touch detecting step and input information detected in the input information detecting step in association with each other into a storing device;
• and
• recalling action from the information in the storing device based on newly acquired input information to control the robot to do the action.

A robot apparatus comprising:

• means for detecting input information;
• means for storing the input information detected by the input information detecting means and action result information indicative of a result of action made correspondingly to the input information detected by the input information detecting means;
• and
• means for identifying action result information in the storing means based on a newly supplied input information to control the robot apparatus to do action based on the action result information.

A robot apparatus comprising:

• means for detecting input information;
• means for storing the input information detected by the input information detecting means and action result information indicative of a result of action made correspondingly to the input information detected by the input information detecting means;
• and
• means for identifying action result information in the storing means based on a newly supplied input information to control the robot apparatus to do action based on the action result information wherein,
• an emotion is changed correspondingly to an external factor and/or internal factor and action is made based on the state of the emotion;
• the storing means stores the emotion state resulted from the action made based on the input information as the action result information and the input information in association with each other;
• and
• the action controlling means recalls a corresponding emotion state from the storing means based on the input information to control the robot apparatus to act based on the emotion state.

A robot apparatus comprising:

• means for detecting input information;
• means for detecting a feature of the input information detected by the input information detecting means;
• means for classifying the input information based on the detected feature;
• means for controlling the robot apparatus to do action based on the input information;
• and
• means for changing the classification of the input information having caused the robot apparatus to do the action based on action result information indicative of a result of the action made by the robot apparatus under the control of the action controlling means.

A method for controlling an action of a robot apparatus, the method comprising the steps of:

• detecting a feature of input information detected by an input information detecting device;
• classifying the input information based on the feature detected in the feature detecting step;
• controlling the robot apparatus to act based on the classification of the input information, made in the information classifying step;
• and
• changing the classification of the input information having caused the robot apparatus to do the action based on action result information indicative of a result of the action made by the robot apparatus controlled in the action controlling step.

A robot apparatus comprising:

• means for identifying a target object;
• means for storing information on the target object identified by the target object identifying means;
• and
• means for controlling the robot apparatus to act based on information on a newly detected object and information on the target object, stored in the storing means.

A robot apparatus comprising:

• means for identifying a target object;
• means for storing information on the target object identified by the target object identifying means;
• and
• means for controlling the robot apparatus to act based on information on a newly detected object and information on the target object, stored in the storing means, wherein the target object identifying means detects a sightline of a trainer teaching the target object to identify the target object from the sightline.

A method for controlling an action of a robot apparatus, the method comprising the steps of:

• identifying a target object;
• storing information on the target object identified in the target object identifying step into a storing device;
• and
• controlling the robot apparatus to act based on information on a newly detected object and information on the target object, stored in the storing device.

A robot apparatus comprising:

• moving members,
• joints to move the moving members,
• detecting means for detecting the state of the joint to which an external force is applied via the moving member;
• and
• means for learning the joint state detected by the detecting means and external force in association with each other.

A robot apparatus comprising:

• moving members,
• joints to move the moving members,
• detecting means for detecting the state of the joint to which an external force is applied via the moving member;
• and
• means for learning the joint state detected by the detecting means and external force in association with each other wherein,
• the detecting means detects a difference between a target value and measured value of the joint state;
• and
• the learning means learns the difference between the target and measured values, detected by the detecting means, and the external force in correlation with each other.

A robot apparatus comprising:

• moving members,
• joints to move the moving members,
• detecting means for detecting the state of the joint to which an external force is applied via the moving member;
• and
• means for learning the joint state detected by the detecting means and external force in association with each other, wherein the learning means learns by a neural network including an input layer, hidden layer and an output layer.

A external force detector comprising:

• means for detecting a state of a joint which moves a moving member;
• and
• means for detecting an external force acting on the moving member based on the joint state detected by the joint state detecting means wherein,
• the detecting means detects a difference between a target value and measured value of the joint state;
• and
• the external force detecting means detects the external force based on the difference between the target and measured values, detected by the detecting means.