Robot device 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 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.
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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.
51 Citations
49 Claims
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1. A robot apparatus which makes a motion corresponding to supplied input information, comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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.
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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.
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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.
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7. The robot apparatus according to claim 2, wherein the model change means changes the models having different properties which are influencing each other.
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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.
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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.
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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.
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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.
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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.
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13. The robot apparatus according to claim 1, wherein the input information is constructed by an action on the robot apparatus from a user.
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14. The robot apparatus according to claim 1, wherein the input information is constructed by environmental information around the robot apparatus.
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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.
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16. The robot apparatus according to claim 1, wherein the input information is constructed by information concerning a condition inside the robot apparatus.
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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.
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18. A motion control method of making a motion in accordance with supplied input information, comprising the steps of:
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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. - View Dependent Claims (19)
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.
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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. - View Dependent Claims (21, 22, 23, 24, 25)
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26. 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 (27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44)
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.
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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.
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36. The apparatus according to claim 26, wherein the control means searches a route in correspondence with a physical shape and a mechanism.
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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.
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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.
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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.
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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:
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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 (46, 47, 48, 49)
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.
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Specification