Information processing apparatus and method, program storage medium, and program

• US 20060015216A1
• Filed: 08/15/2005
• Published: 01/19/2006
• Est. Priority Date: 10/08/2003
• Status: Active Grant

• Current Assignee: Masato Ito
• Original Assignee: Masato Ito
• Inventors: Ito, Masato
• Granted Patent: US 7,133,744 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: G06N 3/08 Learning methods

Abstract

An input motion acquiring unit acquires a motion trajectory of an object from an image recognizing unit. A dynamic modeling processor models a plurality of robot motion patterns stored in a robot motion pattern storage unit in a dynamic system form, and stores the modeled robot motion patterns into a robot-motion-pattern-model storage unit. A motion converting unit linearly transforms the plurality of robot motion dynamic models stored in the robot-motion-pattern-model storage unit into prediction motion trajectories. A motion comparing unit compares the input motion trajectory acquired by the motion acquiring unit with the prediction motion trajectories transformed by the motion converting unit. A robot motion selecting unit selects a robot motion pattern having the highest similarity from the robot motion pattern storage unit. The present invention is applicable to a robot apparatus.

Claims

1. An information processing apparatus associated with a robot comprising:

modeling means for modeling a robot motion pattern executable on a robot control device the robot motion pattern being adapted to be performed by the robot;

storing means for storing a plurality of robot motion patterns that are modeled by the modeling means;

motion pattern acquiring means for acquiring a plurality of motion patterns, each relating to a respective object, each motion pattern being represented by an image of said object, wherein the object is intended to be performed by the robot control device to actuate the robot;

comparing means for comparing the plurality of modeled robot motion patterns stored in the storing means with the motion pattern acquired by the motion pattern acquiring means to provide a best match representing an optimum motion pattern from said storing means; and

selecting means for selecting, based on the best match of the comparing means, a stored robot motion pattern to be generated;

whereby the robot is adapted to perform the optimum motion pattern.

2-3. -3. (canceled)

4. An information processing method associated with a robot comprising:

a modeling step of modeling a robot motion pattern executable on a robot control device the robot motion pattern being adapted to be performed be the robot;

a storing step of storing a plurality of robot motion patterns that are modeled by the modeling step;

a motion pattern acquiring step of acquiring a plurality of motion patterns each relating to a respective object, each motion pattern being represented by an image of said object, wherein the object is intended to be performed by the robot control device to actuate the robot;

a comparing step of comparing the plurality of modeled robot motion patterns stored in the storing step with the motion pattern acquired by the motion pattern acquiring step to provide a best match representing an optimum motion pattern from said stored patterns; and

a selecting step of selecting, based on the best match in the comparing step, a stored robot motion pattern to be generated;

whereby the robot is adapted to perform the optimum motion pattern.

5. A program storage medium storing a computer-readable program including:

a modeling step of modeling a robot motion pattern executable on a robot control device the robot motion pattern being adapted to be performed by the robot;

a storing step of storing a plurality of robot motion patterns that are modeled by the modeling step;

a motion pattern acquiring step of acquiring a plurality of motion patterns, each relating to a respective object, each motion pattern being represented by an image of said object wherein the object is intended to be performed by the robot control device to actuate the robot;

a comparing step of comparing the plurality of modeled robot motion patterns stored in the storing step with the motion pattern acquired by the motion pattern acquiring step to provide a best match representing an optimum motion pattern from said stored patterns; and

a selecting step of selecting, based on the best match of the comparing step, a stored robot motion pattern to be generated;

whereby the robot is adapted to perform the optimum motion pattern.

6. A program associated with a robot that causes a computer to execute:

a modeling step of modeling a robot motion pattern executable on a robot control device the robot motion pattern being adapted to be performed by the robot;

a storing step of storing a plurality of robot motion patterns that are modeled by the modeling step;

a motion pattern acquiring step of acquiring a plurality of motion patterns, each relating to a respective object, each motion pattern being represented by an image of said object wherein the object is intended to be performed by the robot control device to actuate the robot;

a comparing step of comparing the plurality of modeled robot motion patterns stored in the storing step with the motion pattern acquired by the motion pattern acquiring step to provide a best match representing an optimum motion pattern from said stored patterns; and

a selecting step of selecting, based on the best match of the comparing step, a stored robot motion pattern to be generated;

whereby the robot is adapted to perform the optimum motion pattern.