Mobile agents for manipulating, moving, and/or reorienting components

• US 9,919,232 B2
• Filed: 09/02/2015
• Issued: 03/20/2018
• Est. Priority Date: 05/28/2009
• Status: Active Grant

• Current Assignee: Digital Dream Labs, LLC
• Original Assignee: ANKI Incorporated
• Inventors: Tappeiner, Hanns, Sofman, Boris, DeNeale, Patrick
• Primary Examiner(s): HOLLOWAY, JASON R
• Application Number:
  US14/843,591
• Publication Number:
  US 20150375129A1
• Time in Patent Office: 930 Days
• CPC Class Codes: A63F 13/00 Video games, i.e. games using an electronically generated display having two or more dimensions gaming systems which provide a financial reward G07F17/32
• CPC Class Codes: A63F 13/30 Interconnection arrangements between game servers and game devices; Interconnection arrangements between game devices; Interconnection arrangements between game servers
• CPC Class Codes: A63H 17/32 Acoustical or optical signalling devices
• CPC Class Codes: A63H 17/40 Toy vehicles automatically steering or reversing by collision with an obstacle
• CPC Class Codes: A63H 18/16 Control of vehicle drives by interaction between vehicle and track; Control of track elements by vehicles
• CPC Class Codes: A63H 30/02 Electrical arrangements transformers H01F; converters H02M
• CPC Class Codes: A63H 30/04 using wireless transmission
• CPC Class Codes: A63H 33/04 Building blocks, strips, or similar building parts
• CPC Class Codes: A63H 33/042 Mechanical, electrical, optical, pneumatic or hydraulic arrangements; Motors
• CPC Class Codes: A63H 33/046 comprising magnetic interaction means, e.g. holding together by magnetic attraction
• CPC Class Codes: B25J 9/08 characterised by modular constructions
• CPC Class Codes: B25J 9/1617 Cellular, reconfigurable manipulator, e.g. cebot
• CPC Class Codes: G05B 2219/39146 Swarm, multiagent, distributed multitask fusion, cooperation multi robots
• CPC Class Codes: G05B 2219/40109 Consider each part to be assembled as an agent, behaving autonomously
• CPC Class Codes: G05B 2219/40302 Dynamically reconfigurable robot, adapt structure to tasks, cellular robot, cebot
• 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

Abstract

Mobile agents automatically manipulate components such as blocks on a working surface, to perform operations such as construction of generalized structures. The working surface and/or the components can have machine-readable codes to assist the agents in maintaining current knowledge of their respective locations. Agents identify components by type and location, and can move components according to directions; such directions can be provided by a user, or can be based on a pre-programmed directive, or can be determined dynamically based on current conditions or in response to actions of other agents. Agents may cooperate with one another. Agents can also respond to changes in the environment, alterations in works in progress, and/or other conditions, and may be configured to exhibit responses simulating emotional reactions. Different mobile agents can be associated with different character traits, which may be configured to change based on environmental conditions and/or the behavior of other mobile agents.

Claims

1. A robot comprising:

one or more actuators that are each configured to effect a physical movement of the robot;

one or more processors; and

one or more storage devices storing instructions that are operable, when executed by the one or more processors, to cause the robot to perform operations comprising;

prompting a user for a particular input;

obtaining a first personality parameter assigned to the robot, the first personality parameter being one of a plurality of maintained personality parameters;

obtaining one or more behavior criteria to which the first personality parameter is mapped for the prompted input, the one or more behavior criteria corresponding respectively to one or more behavior attributes;

obtaining a first emotion-specific action to which the first personality parameter is mapped for the prompted input;

computing one or more respective values of the one or more behavior attributes;

determining that the one or more computed values for the one or more behavior attributes satisfy the one or more behavior criteria for the first emotion-specific action to which the first personality parameter of the robot is mapped for the prompted input; and

in response to determining that the computed values for the one or more behavior attributes satisfy the one or more behavior criteria for the first emotion-specific action to which the first personality parameter of the robot is mapped for the prompted input, executing the first emotion-specific action including issuing commands to the one or more actuators to cause the robot to perform one or more physical movements corresponding to the first emotion-specific action.

2. The robot of claim 1, wherein the personality parameter is extroverted positive, sensitive positive, reserved positive, reserved neutral, cynical negative, or sensitive negative.

3. The robot of claim 1, wherein the one or more behavior criteria comprise a maximum elapsed time, a maximum number of user input requests to which the first personality parameter is mapped for the prompted input, or both, and

wherein computing the one or more respective values of the one or more behavior attributes comprises computing an elapsed time since prompting the user for the particular input, computing a number of user input requests, or both.

4. The robot of claim 3, wherein the operations further comprise:

determining that a received user input matches the prompted input, and

wherein determining that the one or more computed values for the one or more behavior attributes satisfy the one or more behavior criteria comprises determining that the computed elapsed time was less than or equal to the maximum elapsed time for the prompted input and determining that the computed number of user input requests was less or equal to than the maximum number of user input requests, and

wherein obtaining a first emotion-specific action to which the first personality parameter is mapped for the prompted input comprises obtaining a positive action to which the first personality parameter is mapped for the prompted input.

5. The robot of claim 3, wherein the operations further comprise:

determining that a received user input matches the prompted input, and

wherein determining that the one or more computed values for the one or more behavior attributes satisfy the one or more behavior criteria comprises determining that the computed elapsed time was more than the maximum elapsed time for the prompted input or determining that the computed number of user input requests was more than the maximum number of user input requests, and

wherein obtaining a first emotion-specific action to which the first personality parameter is mapped for the prompted input comprises obtaining a moderating action to which the first personality parameter is mapped for the prompted input.

6. The robot of claim 5, wherein the operations further comprise:

obtaining a different second emotion-specific action to which the first personality parameter is mapped for the prompted input; and

executing the second emotion-specific action including issuing commands to the one or more actuators to cause the robot to perform one or more physical movements corresponding to the second emotion-specific action.

7. The robot of claim 6, wherein the second emotion-specific action is a positive action that is executed after the moderating action.

8. The robot of claim 6, wherein the operations further comprise:

determining that a user input does not match the prompted input, and

wherein the second emotion-specific action is a negative action to which the first personality parameter is mapped for the prompted input.

9. The robot of claim 3, wherein the operations further comprise:

determining that no user input was received, and

wherein determining that the one or more computed values for the one or more behavior attributes satisfy the one or more behavior criteria comprises determining that the computed elapsed time was more than the maximum elapsed time for the prompted input and determining that the computed number of user input requests was more than the maximum number of user input requests, and

wherein obtaining a first emotion-specific action to which the first personality parameter is mapped for the prompted input comprises obtaining a negative action to which the first personality parameter is mapped for the prompted input.

10. The robot of claim 3, wherein the operations further comprise:

determining that a received user input is not recognized, and

wherein obtaining a first emotion-specific action to which the first personality parameter is mapped for the prompted input comprises obtaining a confused action to which the first personality parameter is mapped for the prompted input.

11. The robot of claim 1, wherein prompting a user for a particular input comprises requesting assistance from the user.

12. The robot of claim 11, wherein requesting assistance comprises requesting the user to place something in front of the robot.

13. The robot of claim 1, wherein the personality parameter is represented as a value on a scale between opposing personality characteristics.

14. A method to be performed by a robot, comprising:

prompting a user for a particular input;

obtaining a first personality parameter assigned to the robot, the first personality parameter being one of a plurality of maintained personality parameters;

obtaining one or more behavior criteria to which the first personality parameter is mapped for the prompted input, the one or more behavior criteria corresponding respectively to one or more behavior attributes;

obtaining a first emotion-specific action to which the first personality parameter is mapped for the prompted input;

computing one or more respective values of the one or more behavior attributes;

determining that the one or more computed values for the one or more behavior attributes satisfy the one or more behavior criteria for the first emotion-specific action to which the first personality parameter of the robot is mapped for the prompted input; and

in response to determining that the computed values for the one or more behavior attributes satisfy the one or more behavior criteria for the first emotion-specific action to which the first personality parameter of the robot is mapped for the prompted input, executing the first emotion-specific action including performing one or more physical movements corresponding to the first emotion-specific action.

15. The method of claim 14, wherein the personality parameter is extroverted positive, sensitive positive, reserved positive, reserved neutral, cynical negative, or sensitive negative.

16. The method of claim 14, wherein the one or more behavior criteria comprise a maximum elapsed time and, a maximum number of user input requests to which the first personality parameter is mapped for the prompted input, or both, and

wherein computing the one or more respective values of the one or more behavior attributes comprises computing an elapsed time since prompting the user for the particular input, computing a number of user input requests, or both.

17. The method of claim 16, further comprising:

determining that a received user input matches the prompted input, and

wherein determining that the one or more computed values for the one or more behavior attributes satisfy the one or more behavior criteria comprises determining that the computed elapsed time was less than or equal to the maximum elapsed time for the prompted input and determining that the computed number of user input requests was less or equal to than the maximum number of user input requests, and

wherein obtaining a first emotion-specific action to which the first personality parameter is mapped for the prompted input comprises obtaining a positive action to which the first personality parameter is mapped for the prompted input.

18. The method of claim 16, further comprising:

determining that a received user input matches the prompted input, and

wherein determining that the one or more computed values for the one or more behavior attributes satisfy the one or more behavior criteria comprises determining that the computed elapsed time was more than the maximum elapsed time for the prompted input or determining that the computed number of user input requests was more than the maximum number of user input requests, and

wherein obtaining a first emotion-specific action to which the first personality parameter is mapped for the prompted input comprises obtaining a moderating action to which the first personality parameter is mapped for the prompted input.

19. The method of claim 18, further comprising:

obtaining a different second emotion-specific action to which the first personality parameter is mapped for the prompted input; and

executing the second emotion-specific action including issuing commands to the one or more actuators to cause the robot to perform one or more physical movements corresponding to the second emotion-specific action.

20. The method of claim 19, wherein the second emotion-specific action is a positive action that is executed after the moderating action.

21. The method of claim 19, further comprising:

determining that the user input does not match the prompted input, and

wherein the second emotion-specific action is a negative action to which the first personality parameter is mapped for the prompted input.

22. The method of claim 17, further comprising:

determining that no user input was received, and

wherein determining that the one or more computed values for the one or more behavior attributes satisfy the one or more behavior criteria comprises determining that the computed elapsed time was more than the maximum elapsed time for the prompted input and determining that the computed number of user input requests was more than the maximum number of user input requests, and

wherein obtaining a first emotion-specific action to which the first personality parameter is mapped for the prompted input comprises obtaining a negative action to which the first personality parameter is mapped for the prompted input.

23. The method of claim 17, further comprising:

determining that a received user input is not recognized, and

wherein obtaining a first emotion-specific action to which the first personality parameter is mapped for the prompted input comprises obtaining a confused action to which the first personality parameter is mapped for the prompted input.

24. A computer program product, encoded on one or more non-transitory computer storage media, comprising instructions that when executed by one or more robot processors cause a robot to perform operations comprising:

prompting a user for a particular input;

obtaining a first personality parameter assigned to the robot, the first personality parameter being one of a plurality of maintained personality parameters;

obtaining one or more behavior criteria to which the first personality parameter is mapped for the prompted input, the one or more behavior criteria corresponding respectively to one or more behavior attributes;

obtaining a first emotion-specific action to which the first personality parameter is mapped for the prompted input;

computing one or more respective values of the one or more behavior attributes;

determining that the one or more computed values for the one or more behavior attributes satisfy the one or more behavior criteria for the first emotion-specific action to which the first personality parameter of the robot is mapped for the prompted input; and

in response to determining that the computed values for the one or more behavior attributes satisfy the one or more behavior criteria for the first emotion-specific action to which the first personality parameter of the robot is mapped for the prompted input, executing the first emotion-specific action including issuing commands to one or more robot actuators to cause the robot to perform one or more physical movements corresponding to the first emotion-specific action.

25. The computer program product of claim 24, wherein the personality parameter is extroverted positive, sensitive positive, reserved positive, reserved neutral, cynical negative, or sensitive negative.

26. The computer program product of claim 24, wherein the one or more behavior criteria comprise a maximum elapsed time, a maximum number of user input requests to which the first personality parameter is mapped for the prompted input, or both, and

wherein computing the one or more respective values of the one or more behavior attributes comprises computing an elapsed time since prompting the user for the particular input, computing a number of user input requests, or both.

27. The computer program product of claim 26, wherein the operations further comprise:

determining that a received user input matches the prompted input, and

wherein determining that the one or more computed values for the one or more behavior attributes satisfy the one or more behavior criteria comprises determining that the computed elapsed time was less than or equal to the maximum elapsed time for the prompted input and determining that the computed number of user input requests was less or equal to than the maximum number of user input requests, and

wherein obtaining a first emotion-specific action to which the first personality parameter is mapped for the prompted input comprises obtaining a positive action to which the first personality parameter is mapped for the prompted input.

28. The computer program product of claim 26, wherein the operations further comprise:

determining that a received user input matches the prompted input, and

wherein determining that the one or more computed values for the one or more behavior attributes satisfy the one or more behavior criteria comprises determining that the computed elapsed time was more than the maximum elapsed time for the prompted input or determining that the computed number of user input requests was more than the maximum number of user input requests, and

wherein obtaining a first emotion-specific action to which the first personality parameter is mapped for the prompted input comprises obtaining a moderating action to which the first personality parameter is mapped for the prompted input.

29. The computer program product of claim 28, wherein the operations further comprise:

obtaining a different second emotion-specific action to which the first personality

parameter is mapped for the prompted input; and

executing the second emotion-specific action including issuing commands to the one or more actuators to cause the robot to perform one or more physical movements corresponding to the second emotion-specific action.

30. The computer program product of claim 29, wherein the second emotion-specific action is a positive action that is executed after the moderating action.

31. The computer program product of claim 29, wherein the operations further comprise:

determining that the user input does not match the prompted input, and

wherein the second emotion-specific action is a negative action to which the first personality parameter is mapped for the prompted input.

32. The computer program product of claim 26, wherein the operations further comprise:

determining that no user input was received, and

wherein determining that the one or more computed values for the one or more behavior attributes satisfy the one or more behavior criteria comprises determining that the computed elapsed time was more than the maximum elapsed time for the prompted input and determining that the computed number of user input requests was more than the maximum number of user input requests, and

wherein obtaining a first emotion-specific action to which the first personality parameter is mapped for the prompted input comprises obtaining a negative action to which the first personality parameter is mapped for the prompted input.