Robot device, robot device action control method, external force detecting device and external force detecting method
First Claim
1. A robot apparatus comprising:
- means for detecting a touch;
means for detecting information supplied simultaneously with, just before or after the touch detection by the touch detecting means;
means for storing action made correspondingly to the touch detection in association with the input information detected by the input information detecting means; and
means for recalling action from information in the storing means based on a newly acquired information to control the robot apparatus to do the action.
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Accused Products
Abstract
A robot (1) is proposed which includes a speech recognition unit (101) to detect information supplied simultaneously with or just before or after detection of a touch by a touch sensor, an associative memory/recall memory (104) to store action made correspondingly to the touch and input information (speech signal) detected by the speech recognition unit (101) in association with each other, and an action generator (105) to control the robot (1) to make action recalled by the associative memory/recall memory (104) based on a newly acquired input information (speech signal). The robot (1) includes also a sensor data processor (102) to allow the robot (1) to act correspondingly to the touch detection by the touch sensor. Thus, the robot (1) can learn action in association with an input signal such as speech signal.
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Citations
29 Claims
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1. A robot apparatus comprising:
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means for detecting a touch;
means for detecting information supplied simultaneously with, just before or after the touch detection by the touch detecting means;
means for storing action made correspondingly to the touch detection in association with the input information detected by the input information detecting means; and
means for recalling action from information in the storing means based on a newly acquired information to control the robot apparatus to do the action. - View Dependent Claims (2, 3, 4)
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5. A method for controlling the action of a robot apparatus, the method comprising the steps of:
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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 means; and
recalling action from the information in the storing means based on newly acquired input information to control the robot to do the action.
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6. A robot apparatus comprising:
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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. - View Dependent Claims (7, 8)
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9. A method for controlling the action of a robot apparatus, the method comprising the steps of:
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storing action result information indicative of a result of action made correspondingly to input information detected by an input information detecting means and the input information itself in association with each other into a storing means; and
identifying action result information in the storing means based on newly supplied input information to control the robot apparatus to make action based on the action result information.
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10. A robot apparatus comprising:
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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. - View Dependent Claims (11, 12, 15, 16, 17, 18)
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13. A method for controlling the action of a robot apparatus, the method comprising the steps of:
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detecting a feature of input information detected by an input information detecting means;
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.
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14. A robot apparatus comprising:
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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.
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19. A method for controlling the action of a robot apparatus, the method comprising the steps of:
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identifying a target object;
storing information on the target object identified in the target object identifying step into a storing means; 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 means.
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20. A robot apparatus comprising:
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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. - View Dependent Claims (21, 22, 23, 24, 25, 27, 28)
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26. An external force detector comprising:
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means for detecting the 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.
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29. A method for detecting an external force, comprising the steps of:
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detecting the state of a joint which moves a moving member;
detecting an external force acting on the moving member based on the detected joint state; and
detecting the external force acting on the moving member based on the state of the joint which moves the moving member.
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Specification