Multi-segment social robot

• US 10,357,881 B2
• Filed: 02/03/2016
• Issued: 07/23/2019
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Ntt Disruptions Co.
• Original Assignee: SQN Venture Income Fund LP (SQN Venture Partners LLC)
• Inventors: Faridi, Fardad, Breazeal, Cynthia
• Primary Examiner(s): Lee, Hsien Ming
• Application Number:
  US15/014,963
• Publication Number:
  US 20160151917A1
• Time in Patent Office: 1,266 Days
• Field of Search: 700245, 700246, 700258, 700259, 700264
• CPC Class Codes: B25J 11/0005 Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
• CPC Class Codes: B25J 11/001 with emotions simulating means
• CPC Class Codes: B25J 11/0015 Face robots, animated artificial faces for imitating human expressions
• CPC Class Codes: B25J 9/0003 Home robots, i.e. small robots for domestic use
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: G10L 15/197 Probabilistic grammars, e.g. word n-grams
• CPC Class Codes: G10L 15/22 Procedures used during a speech recognition process, e.g. man-machine dialogue
• CPC Class Codes: G10L 15/32 Multiple recognisers used in sequence or in parallel; Score combination systems therefor, e.g. voting systems
• CPC Class Codes: G10L 2015/223 Execution procedure of a spoken command
• CPC Class Codes: H04N 23/611 where the recognised objects include parts of the human body

Abstract

A multi-segment robot for emotive expression includes a first segment having a generally planar surface, a second segment having a first axis of rotation, the second segment in rotational contact with the first segment about the first axis of rotation; and a third segment in rotational contact with the second segment about a second axis of rotation not parallel to the first axis of rotation, the third segment having a display screen adapted to facilitate social interaction with a user.

Claims

1. A robot comprising:

a first segment having a generally planar surface facing a second segment;

the second segment in rotational contact with the first segment about a first axis of rotation; and

a third segment in rotational contact with the second segment about a second axis of rotation not parallel to the first axis of rotation, the third segment having a display screen adapted to facilitate social interaction with a user, wherein the first segment, the second segment, and the third segment form a 3-ring Zetatype structure of the robot.

2. The robot of claim 1, wherein rotation of at least one of the second and third segments is controlled by a vestibulo-ocular reflex algorithm.

3. The robot of claim 1, wherein the display screen maintains an orientation toward a look-at target independent of rotation of the second segment.

4. The robot of claim 3, wherein the third segment rotates about its axis of rotation to maintain the orientation of the display screen toward the look-at target in response to the robot detecting movement of the look-at target relative to the robot.

5. The robot of claim 1, wherein a look-at target is determined by an attention function of the robot and wherein one or more of the segments perform an orienting response to the determined look-at target.

6. The robot of claim 5, wherein the orienting response comprises rotating the third segment so that the display screen is oriented toward the look-at target.

7. The robot of claim 1, wherein the second and third segments rotate about their mutual axes of motion to achieve a target pose of at least one of the first, second and third segments.

8. The robot of claim 7, wherein the target pose is determined at least in part by using a geometric solver algorithm that is based on a look-at target point defined in three dimensional space.

9. The robot of claim 8, wherein the look-at target point is set by an attention system of the robot.

10. The robot of claim 7, wherein rotation of the second and third segments are coordinated to mimic a human torso and head moving from a first position to the target position.

11. The robot of claim 7, wherein the second and third segments rotate about their mutual axes of rotation using music beat tracking to produce a plurality of dance animation poses.

12. The robot of claim 7, wherein the second and third segments rotate about their mutual axes of motion to mirror a pose of a human.

13. The robot of claim 7, wherein the second and third segments rotate about their mutual axes of rotation to achieve a pose that represents an emotional state defined by data from a plurality of sensors of the robot that detect position and at least one of sound, visual cue, and touch of a human in near-field proximity to the robot.

14. The robot of claim 1, wherein the first axis of rotation is not perpendicular to the generally planar surface.

15. The robot of claim 1, wherein the second segment and the third segment are capable of rotating about the second axis of rotation at an angle greater than 360 degrees.

16. The robot of claim 1, wherein rotation of at least one of the second and third segments is coordinated with activation of the display screen during social interaction with the user.

17. The robot of claim 1, wherein a motor of the robot is mounted in an elastomeric material for absorbing noise produced by armature bearings of the motor.