Robot and its control method
First Claim
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1. A robot characterized by;
- 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 said behavior and/or motion models of a higher growth level at a given timing based on at least one of the input history from the outside and the history of the own behaviors and/or motions of its own.
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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.
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Citations
22 Claims
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1. A robot characterized by;
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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 said behavior and/or motion models of a higher growth level at a given timing based on at least one of the input history from the outside and the history of the own behaviors and/or motions of its own. - View Dependent Claims (2, 3, 4, 5, 6, 7, 9)
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8. A robot characterized in comprising;
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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 said 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 based on at least one of the input history from the outside and the history of the behaviors and/or motions of its own.
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10. A robot characterized in comprising;
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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 said behavior and/or motion models of a higher growth level at a given timing based on the appraisal results by appraising its own behaviors based on given-appraisal functions.
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11. A robot having a plurality of behavior and/or motion models of a plurality of behavior patterns, comprising;
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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. - View Dependent Claims (13, 14, 15, 16, 17, 18, 20)
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12. A control method of a robot characterized in comprising;
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first step wherein behaviors and/or motions are generated based on the behavior and/or motion models, and second step wherein said behavior and/or motion models are transformed into behavior and/or motion models of a higher growth level at a given timing based on at least one of the input history from the outside and the history of the behaviors and motions of its own.
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19. A control method of a robot characterized in comprising;
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first step wherein behaviors and/or motions are generated based on behavior and motion models, and second step wherein said behavior and/or motion models are transformed into behavior and/or motion models of a higher growth level in order according to first given conditions, and wherein said behavior and/or motion models are transformed into different behavior and/or motion models of an equal or a lower growth level according to second given conditions based on at least one of the input history from the outside and the history of the behaviors and motions of its own.
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21. A control method of a robot characterized in that;
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first step wherein behaviors and/or motions are generated based on behavior and/or motion models, and second step wherein said behavior and motion models are transformed into said behavior and motion models of a higher growth level at a given timing based on the appraisal results obtained by appraising its own behaviors based on given appraisal functions.
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22. A control method of a robot characterized in that;
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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 each of said behavior and/or motion models of corresponding said behavior pattern is transformed responding to the influence from the 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.
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Specification