Robot and control method for controlling robot expressions

• US 7,363,108 B2
• Filed: 02/04/2004
• Issued: 04/22/2008
• Est. Priority Date: 02/05/2003
• Status: Expired due to Fees

• Current Assignee: Sony Corporation (Sony Group Corp.)
• Original Assignee: Sony Corporation (Sony Group Corp.)
• Inventors: Noda, Kuniaki, Yamamoto, Takashi, Kato, Tatsunori
• Primary Examiner(s): Tran, Khoi H.
• Assistant Examiner(s): WEISKOPF, MARIE
• Application Number:
  US10/771,685
• Publication Number:
  US 20040210345A1
• Time in Patent Office: 1,539 Days
• Field of Search: 700/245, 700/258, 318/568.12, 318/568.13, 318/568.16
• US Class Current: 700/245
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• 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

A robot apparatus which, by exploiting limited resources highly efficiently, is capable of making expressions matched to the motion or to complex variegated feeling or instinct states, representing the crucial information in achieving smooth communication with the human being, is disclosed. A method of expression by the robot apparatus is also disclosed. The robot apparatus expresses plural states, such as emotional states or the processing states of perceptual recognition, by a light radiating device loaded at a location of the head part of the humanoid robot apparatus walking on two legs. The light radiating device includes e.g. the color hue, saturation and patterns of light emission as expressive units represented independently of one another. A plural number of orthogonal states, that is, the emotional states and the states of perceptual recognition, are expressed simultaneously, using a plural number of the orthogonal representations of the light radiating device correlated by a unit for correlating plural reciprocally orthogonal states, derived from the own inner states or external stimuli, with at least one expressive unit.

Claims

1. A robot apparatus for performing autonomous motion based on inner states and external stimuli, comprising

expression means for producing a plurality of expressions;

wherein the expression means comprises a plurality of expressive units which are capable of producing on a time axis a plurality of orthogonal expressions which are independent of each other,

wherein the plurality of orthogonal expression comprises feeling classes, feeling intensity, and states of perceptual recognitions,

correlating means for correlating a plurality of orthogonal states, which are based on said inner states and external stimuli, with at least one of said plurality of expressive units; and

control means for controlling said expression means for representing the plural orthogonal states in parallel, using the correlated expressive units.

2. The robot apparatus according to claim 1

wherein said control means control said expression means using one or more of the expressive units having parameters variably controlled responsive to each expressive element of said inner states.

3. The robot apparatus according to claim 1

wherein said expression means comprises a light radiating device and

wherein the plural expressive units, capable of orthogonal expressions independently of one another, comprise two or more of color hue, saturation, intensity and patterns of light emission.

4. The robot apparatus according to claim 3,

wherein the robot apparatus has an appearance simulating an animal, and

wherein said light radiating device is provided at a location corresponding to an eye of the robot apparatus.

5. The robot apparatus according to claim 1

wherein said expressive means comprises an uttering unit and

wherein the plural expressive units, capable of producing orthogonal expressions independent of one another, comprise two or more of the sound pitch, sound volume and rhythm.

6. The robot apparatus according to claim 1

wherein said correlating means outputs said correlation by control commands having different priority ratings;

wherein upon issuance of plural control commands, having different priority ratings, prioritizing the control command having a higher priority rating.

7. A robot apparatus for selecting and executing at least one of a plurality of motions, comprising:

expression means for producing a plurality of expressions;

command issuing means for issuing a control command on motion selection,

wherein said control command has a priority rating and correlates said expressive units with the selected motion; and

control means for controlling said expression means by said control command;

wherein upon issuance of plural control commands having different priority ratings said control means controls said expression means in accordance with the control command having a higher priority rating,

wherein when a plurality of commands have the same priority ratings, information showing orthogonal expressions are set independently so that a plurality of orthogonal states are expressed in parallel.

8. The robot apparatus according to claim 7

wherein, if a first control command having a higher priority rating than a second control command currently controlling the expression means is issued, said control means interrupts the expressions to control the expression means in accordance with the first control command having a higher priority rating.

9. The robot apparatus according to claim 8

wherein said control means re-initiates the interrupted expressions when the expression related to the first control command having a higher priority rating ends.

10. The robot apparatus according to claim 7

wherein said command issuing means further comprises:

a plurality of behavior stating modules stating the motions of a robot body;

wherein when one of the behavior stating modules is selected, the selected behavior stating module issues a third control command having a priority rating that matches the motion of the robot body.

11. The robot apparatus according to claim 10

wherein a control command issued by the behavior stating module selected on the basis of a command from outside the robot has a higher priority rating than a control command issued by the behavior stating module selected on the basis of an inner state of the robot or a state of recognition.

12. The robot apparatus according to claim 7

wherein the expression means comprises a plurality of expressive units which are capable of producing on a time axis a plurality of orthogonal expressions which arc independent of each other,

wherein the plurality of orthogonal expression comprises feeling classes, feeling intensity, and states of perceptual recognitions.

13. A method for expression by a robot apparatus capable of performing autonomous motions based on inner states and external stimuli, said method comprising:

correlating a plurality of orthogonal states, which are based on said inner states and external stimuli, with at least one of a plurality of expressive units, which are owned by expression means and which are capable of producing on a time axis a plurality of orthogonal expressions which are independent of each other and;

controlling said expression means for representing the plural orthogonal states in parallel, using the correlated expressive units, and

wherein the plurality of orthogonal expressions comprise feeling classes, feeling intensity, and states of perceptual recognitions.

14. The method according to claim 13, further comprising:

controlling said expression means by expressive elements,

wherein the parameters of the expression means are variably controlled responsive to respective expressive elements of said inner states.

15. The method according to claim 13 wherein,

the correlation step further comprises:

outputting the correlation by control commands, having a priority rating; and

prioritizing the control command having a higher rating.

16. A method for expression by a robot apparatus in which at least one of a plurality of motions is selected and executed, said method comprising:

a command issuing step of issuing, on motion selection, a control command in which an expressive unit variably controlled by a parameter and owned by expression means is correlated with the selected motion;

controlling said expression means by said control command, and

wherein said control command has a priority rating;

wherein upon issuance of plural control commands having different priority ratings said control means controls said expression means in accordance with the control command having a higher priority rating,

wherein when a plurality of commands have the same priority ratings, information showing orthogonal expressions are set independently so that a plurality of orthogonal states are expressed in parallel.

17. The method according to claim 16

wherein if, a first control command having a higher priority rating than the second control command currently controlling said expression means in the expressing operation is issued, the expression is interrupted and the expression means is controlled by the first control command having the higher priority rating.

18. The method according to claim 17

wherein the interrupted expression is re-initiated when the expression corresponding to the first control command having a higher priority rating ends.