Robot apparatus and motion control method
First Claim
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1. A robot apparatus which makes a motion corresponding to supplied input information, comprising model change means including a model for causing the motion, for determining the motion by changing the model, based on the input information.
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Abstract
The robot apparatus of the present invention autonomously makes natural motions. The robot apparatus is provided with a control means 32, which has a feeling/instinct model that causes a motion and changes the feeling/instinct model based on input information S1 to S3 thereby to determine a motion. As a result of this, the robot apparatus 1 can autonomously act based on the state of its own feeling/instinct. A robot apparatus which can autonomously make natural motions can thus be realized.
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Citations
53 Claims
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1. A robot apparatus which makes a motion corresponding to supplied input information, comprising
model change means including a model for causing the motion, for determining the motion by changing the model, based on the input information.
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19. A motion control method for making a motion in accordance with supplied input information, wherein
a model which causes the motion is changed, based on the input information, thereby to determine the motion.
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22. A robot apparatus which makes a motion in accordance with supplied input information, comprising
motion determination means for determining a next operation subsequent to a current motion, based on the current motion and the input information supplied next, said current motion corresponding to a history of input information supplied sequentially.
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29. A motion control method for making a motion in accordance with supplied input information, wherein
a next motion subsequent to a current motion is determined, based on the current motion and the input information to be supplied next, the current motion corresponding to a history of input information supplied sequentially.
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30. A robot apparatus which is let make a motion, based on action command information, to transit between a plurality of positions, comprising:
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graph storage means storing a graph which registers the positions and the motion and which is constructed by connecting the positions with the motion for letting the positions transit; and
control means for searching a route from a current position to an aimed position or motion, on the graph, based on the action command information, and for letting the robot apparatus move, based on a search result, thereby to let the robot apparatus transit from the current position to the aimed position or motion. - View Dependent Claims (31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48)
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49. A motion control method for making a motion, based on action command information, thereby to control transit between a plurality of positions, comprising the steps of:
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searching, based on the action command information, a route from a current position to an aimed position or motion on a graph which registers the positions and the motion and which is constructed by connecting the positions with a motion for letting the positions transit, and executing a motion based on a search result, thereby to make transit from the current position to the aimed position or motion. - View Dependent Claims (50, 51, 52, 53)
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Specification