Robot apparatus and method of controlling the motion thereof
First Claim
1. A robot apparatus capable of moving autonomously, the robot apparatus comprising:
- a joint having a degree of freedom;
an actuator for actuating the joint;
input means for inputting an image of an external moving body;
a motion controller, comprising;
means for generating a waveform corresponding to the image of the moving body;
a rhythmic motion module for generating, based on the waveform, a rhythmic motion signal corresponding to a rhythm of the moving body;
means for detecting a body part in the image of the moving body;
a body position module for generating, based on the detected body part, a body position signal indicative of a position of the moving body;
a modulator for modulating the rhythmic motion signal and the body position signal; and
a body controller for controlling the actuator based on the modulated rhythmic motion signal and the modulated body position signal.
1 Assignment
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Accused Products
Abstract
The present invention provides a robot apparatus is capable of moving autonomously, flexibly responding to a motion of conforming to an external moving subject that may typically be the user of the robot apparatus and conforming to the motion of the moving subject, and also capable of modifying the conforming relationship with the moving subject. The robot apparatus is capable of moving autonomously, and comprises an input section that inputs an image or sound of an external moving subject, a plurality of motion generating sections that generate a plurality different motions in response to the image or sound input by way of the input section, conforming to the motion of the external moving subject, a motion expressing section that integrally expresses one or more than one motions out of the plurality of motions generated by the plurality of motion generating sections, and a control section that controls the number of motions integrated by the motion expressing section and the ratio of the motions to be integrated.
51 Citations
11 Claims
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1. A robot apparatus capable of moving autonomously, the robot apparatus comprising:
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a joint having a degree of freedom; an actuator for actuating the joint; input means for inputting an image of an external moving body; a motion controller, comprising; means for generating a waveform corresponding to the image of the moving body; a rhythmic motion module for generating, based on the waveform, a rhythmic motion signal corresponding to a rhythm of the moving body; means for detecting a body part in the image of the moving body; a body position module for generating, based on the detected body part, a body position signal indicative of a position of the moving body; a modulator for modulating the rhythmic motion signal and the body position signal; and a body controller for controlling the actuator based on the modulated rhythmic motion signal and the modulated body position signal. - View Dependent Claims (2, 3, 4, 5)
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6. A method of controlling the motion of a robot apparatus capable of moving autonomously, the method comprising:
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receiving an image of an external moving body; generating a waveform corresponding to the image of the moving body; generating, based on the waveform, a rhythmic motion signal corresponding to a rhythm of the moving body; detecting a body part in the image; generating, based on a position of the detected body part, a body position signal indicative of a position of the moving body; modulating the rhythmic motion signal and the body position signal; and controlling an actuator for a joint of the robot apparatus based on the modulated rhythmic motion signal and the modulated body position signal. - View Dependent Claims (7, 8, 9, 10)
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11. A robot apparatus capable of moving autonomously, the robot apparatus comprising:
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a joint having a degree of freedom; an actuator that actuates the joint; an input section that inputs an image of an external moving body; a motion controller, comprising; a waveform generator that generates a waveform corresponding to the image of the moving body; a rhythmic motion module that generates, based on the waveform, a rhythmic motion signal corresponding to a rhythm of the moving body; a detector that detects a body part in the image of the moving body; a body position module that generates, based on the detected body part, a body position signal indicative of a position of the moving body; and a modulator that modulates the rhythmic motion signal and the body position signal; and a body controller that controls the actuator based on the modulated rhythmic motion signal and the modulated body position signal.
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Specification