Robot device and motion control method

• US 6,442,450 B1
• Filed: 11/09/2000
• Issued: 08/27/2002
• Est. Priority Date: 01/20/1999
• Status: Expired due to Term

• Current Assignee: Sony Corporation (Sony Group Corp.)
• Original Assignee: Sony Corporation (Sony Group Corp.)
• Inventors: Inoue, Makoto, Yokoyama, Taku
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Marc, McDieunel, Marc, McDieunel
• Application Number:
  US09/646,506
• Time in Patent Office: 656 Days
• Field of Search: 700/245, 700/17, 700/56, 700/83, 700/86, 700/260, 700/263, 700/31, 700/248, 700/258, 700/259, 318/568.1, 318/16, 318/568.11, 318/568.12, 318/568.2, 318/565, 382/209, 382/181, 382/190, 710/7, 710/20, 348/110, 348/27, 348/734, 345/473, 345/520, 901/1, 901/15, 901/47
• US Class Current: 700/245
• CPC Class Codes: B25J 13/00 Controls for manipulators programme controls B25J9/16; control in general G05
• CPC Class Codes: G06N 3/008 based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour

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.

Claims

1. A robot apparatus which makes a motion corresponding to supplied input information, comprising:

model change means including a model for causing the motion and for determining the motion by changing the model, based on the input information;

said model change means including a feeling model for expressing a feeling through a motion, as the model, or an instinct model for expressing an instinct through a motion, as a model having a property different from the feeling model; and

said model change means changing the feeling model, based on the input information, thereby changing a feeling state for causing the motion, or changing the instinct model, based on the input information, thereby changing an instinct state for causing the motion.

2. The robot apparatus according to claim 1, wherein the model change means uses a plurality of models having different properties, as the model.

3. The robot apparatus according to claim 2 wherein the model change means a feeling model for expressing a feeling through a motion, as a first property model, and an instinct model for expressing an instinct through a motion, as a second property model, and wherein

the model change means changes the feeling model, based on the input information, thereby to change a feeling state for causing the motion, and changes the instinct model, based on the input information, thereby to change an instinct state for causing the motion.

4. The robot apparatus according to claim 2, wherein the model change means has a plurality of kinds of models with respect to each of the models having different properties.

5. The robot apparatus according to claim 4, wherein the model change means changes individually levels of the plurality of kinds of models of the plurality of models having different properties, based on the input information, thereby to change the state which causes the motion.

6. The robot apparatus according to claim 4, wherein the model change means changes desired models among the models having different properties, with the desired models influencing each other.

7. The robot apparatus according to claim 2, wherein the model change means changes the models having different properties which are influencing each other.

8. The robot apparatus according to claim 1, wherein the model change means has a plurality of kinds of models, as the model, with respect to one same property.

9. The robot apparatus according to claim 8, wherein the model change means changes individually levels of the plurality of kinds of models, based on the input information, thereby to change the state which causes the motion.

10. The robot apparatus according to claim 1, wherein the model change means changes the model in accordance with an action of the robot apparatus.

11. The robot apparatus according to claim 1, wherein the model change means changes the model in a way inherent to the robot apparatus itself.

12. The robot apparatus according to claim 1, wherein the input information is constructed by user command information supplied to the robot apparatus from a user.

13. The robot apparatus according to claim 1, wherein the input information is constructed by an action on the robot apparatus from a user.

14. The robot apparatus according to claim 1, wherein the input information is constructed by environmental information around the robot apparatus.

15. The robot apparatus according to claim 14, wherein the input information is constructed by information concerning a motion of another robot apparatus existing around the robot apparatus.

16. The robot apparatus according to claim 1, wherein the input information is constructed by information concerning a condition inside the robot apparatus.

17. The robot apparatus according to claim 1, wherein the input information is constructed by information concerning a current or past action of the robot apparatus.

18. A motion control method of making a motion in accordance with supplied input information, comprising the steps of:

changing a model which causes the motion, based on the input information, thereby determining the motion;

wherein said model is a feeling model for expressing a feeling through a motion, or an instinct model having a property different from that of the feeling model, for expressing an instinct through a motion; and

changing a feeling state which causes the motion if the feeling model is changed based on the input information, or changing an instinct state which causes the motion if the instinct model is changed based on the input information.

19. The method according to claim 18, wherein the model is a feeling model for expressing a feeling through a motion, and an instinct model for expressing an instinct through a motion, as a model of a second property, and wherein

the feeling model is change, based on the input information, thereby to change a feeling state which causes the motion, and the instinct model is changed, based on the input information, thereby to change an instinct state which causes the motion.

20. 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;

and

said input information is constituted by combining all or part of user command information supplied from a user, information concerning an action from the user, information concerning an environment, information concerning a condition inside the robot apparatus, information concerning a current or past action, and information concerning a state of a feeling and/or an instinct.

21. The apparatus according to claim 20, wherein the motion determination means determines the next motion with use of finite automation having a finite number of motions.

22. The apparatus according to claim 20, wherein the motion determination means uses probability-finite automation by which a plurality of motions are selected as candidates for a transit destination, based on the current motion and the input information, and a desired motion among the selected plurality of motions is determined at random by random numbers.

23. The apparatus according to claim 20, wherein the motion determination means uses a fact that a time for which a current motion has been being executed reaches a predetermined value, a fact that specific input information is inputted, or a fact that a level of a desired feeling model or instinct model among a plurality of kinds of feeling models and a plurality of kinds of instinct models that determine states of a feeling and instinct of the robot apparatus exceeds a predetermined threshold value, as a condition for letting the current motion transit to the next motion.

24. The apparatus according to claim 20, wherein the motion determination means determines a motion as a transit destination, based on whether or not a level of a desired feeling model or instinct model among a plurality of kinds of feeling models and a plurality of kinds of instinct models that determine states of a feeling and an instinct exceeds a predetermined threshold value.

25. The apparatus according to claim 20, wherein the motion determination means changes a parameter which characterizes an action to be carried out as a motion at a transit destination, in correspondence with a level of a desired feeling model or instinct model among a plurality of kinds of feeling models and a plurality of kinds of instinct models that determine states of a feeling and an instinct exceeds a predetermined threshold value.

26. A robot apparatus which is let make a motion, based on action command information, to transit between a plurality of positions, comprising:

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.

27. The apparatus according to claim 26, further comprising action command information storage means for temporarily storing the action command information, wherein the control means searches a route from the current position to the aimed position or motion, on the graph, based on the action command information sequentially supplied from the action command information storage means.

28. The apparatus according to claim 27, wherein the action command information is added with additional information concerning the action command information.

29. The apparatus according to claim 28, wherein the additional information is the command operation information, and wherein

the action command information storage means performs an operation on newly supplied action command information and previously supplied action command information, based on the command operation information.

30. The apparatus according to claim 28, wherein the additional information is delayed input information which instructs contents of a motion in details, and wherein the control means controls finely the aimed motion, based on the detailed input information.

31. The apparatus according to claim 30, wherein the detailed input information is information concerning a parameter of a motion, and wherein

the control means executes the aimed motion in accordance with the parameter.

32. The apparatus according to claim 30, wherein the detailed input information is information concerning a number of repetitions of a motion, and wherein

the control means repeatedly executes the aimed motion, based on information concerning the number of repetitions.

33. The apparatus according to claim 30, wherein the detailed input information is information concerning a repetitive motion, and wherein

the control means executes the aimed motion until information concerning an end of repetition is inputted.

34. The apparatus according to claim 26, wherein motions on the graphs are added with weights, and wherein

the control means searches a route with reference to the weights.

35. The apparatus according to claim 34, wherein the control means searches a route which sets a sum of the weights to a minimum value.

36. The apparatus according to claim 26, wherein the control means searches a route in correspondence with a physical shape and a mechanism.

37. The apparatus according to claim 26, wherein an entire of the robot apparatus is constructed by a plurality of componential parts, wherein

the graph storage means stores a plurality of graphs respectively corresponding to the entire and the componential parts, and wherein

the control means searches route with respect to the entire and the componential parts on the graphs, respectively, and lets the entire and the componential parts move, based on each search result.

38. The apparatus according to claim 37, wherein a basic position common to the entire and the componential parts is registered on the plurality of graphs, and wherein

the control means searches a route from the current position to the aimed position or motion, between the graphs through the basic position, when the current position and the aimed position or motion bridge over the entire and the componential parts.

39. The apparatus according to claim 37, wherein the action command information is added with synchronization information for synchronizing a motion with a different componential part, and wherein

the control means lets the different componential part move synchronously, based on the synchronization information.

40. The apparatus according to claim 26, wherein the control means execute a motion of transiting from the current position to the aimed position, with an expression added.

41. The apparatus according to claim 26, wherein a plurality of equal motions are registered on the graph, and wherein

the control means searches a route to one of the plurality of equal motions, referring at least to the current position, when the plurality of equal motions are instructed by the action command information.

42. The apparatus according to claim 41, wherein the control means searches a route to one of the plurality of equal motions that is the shortest and is executable.

43. The apparatus according to claim 26, wherein a neutral position is registered on the graph, and wherein

the control means once sets the neutral position and then lets the neutral position transit to the aimed position or motion, when an actual position is unclear.

44. The apparatus according to claim 43, wherein the control means sets the neutral position through a slower motion than a normal motion in a normal transit.

45. 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:

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.

46. The method according to claim 45, wherein the action command information is temporarily stored in action command information storage means, and wherein a route from the current position to the aimed position or motion is searched on the graph, based on the action command information sequentially supplied from the action command information storage means.

47. The method according to claim 45, wherein motions on the graph are added with weights, and a route is searched with reference to the weights.

48. The method according to claim 45, wherein a motion of a robot apparatus which can transit to a plurality of positions.

49. The method according to claim 48, wherein an entire of the robot is constructed by a plurality of componential parts, and wherein

the route is searched with respect to the entire and the componential parts, on a plurality of graphs respectively corresponding to the entire and the componential parts, and the entire and the componential parts are moved, based on search results, respectively.