Patent US6708081B2 successfully refreshed from Google Patents.
US6708081B2
Expired / Lapsed
US
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Electronic equipment with an autonomous function
Assignee: Yamaha Motor Co Ltd
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Filing: 2001-07-27
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Granted: 2004-03-16
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Expires: 2021-07-27
Abstract
Abstract The invention is directed to electronic equipment, such as a pet robot, with an autonomous emotion-based function. The electronic equipment executes environment detection processing, emotion-production processing for producing an emotion, and movement determination processing for determining a movement based on the emotion. The movement determination processing is arranged such that actions representing the emotion by the movement of given parts of the pet robot are performed prior to main actions based on the emotion. Therefore, a user can understand the emotion of the pet robot by intuition and thereby predict the subsequent movement naturally and effectively, providing the user feeling that the movement of the pet robot is reasonable.
Inventors
- 👤 Makoto Yoshida
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-09 10:45
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/16; B25J9/1602; B25J9/161; G; G05; G05B; G05B2219/00; G05B2219/30; G05B2219/37; G05B2219/37563; G05B2219/39; G05B2219/39254
Claims Analysis
Total Claims: 31
Claim 1
Independent Claim
117 words
A pet robot-type of device with an autonomous emotion-based function, comprising: an environment detection device for detecting surroundings; an emotion-production module for producing an emotion based at least in part on data from the environment detection device; and a movement-determination module for determining a movement based on the emotion produced by the emotion-production module, wherein the movement determination module determines the movement so that actions expressing the emotion by movements of given parts of the device are performed prior to main actions based on the emotion, wherein a speed of movement of portions of the device are moved relatively more gradually in response to relatively weaker emotions and relatively more Quickly in response to relatively stronger emotions.
Claim 2
Dependent Claim
117 words
A pet robot-type of device with an autonomous emotion-based function, comprising: an environment detection device for detecting surroundings; an emotion-production module for producing an emotion based at least in part on data from the environment detection device; and a movement-determination module for determining a movement based on the emotion produced by the emotion-production module, wherein the movement determination module determines the movement so that actions expressing the emotion by movements of given parts of the device are performed prior to main actions based on the emotion, wherein a speed of movement of portions of the device are moved relatively more gradually in response to relatively weaker emotions and relatively more Quickly in response to relatively stronger emotions.
Claim 3
Dependent Claim
37 words
The pet robot-type of device of claim 1 , wherein the movement determination module determines the movement so that when the produced emotion exceeds a predetermined threshold, reflective actions are performed instead of actions expressing the emotion.
Claim 4
Independent Claim
104 words
A method of controlling movements of electronic equipment with an autonomous function based on a simulated emotion, the method comprising: detecting an object; producing an emotion based at least in part on the detected object; determining movements of the electronic equipment based on the emotion; generating a control signal based on the object and the movements; and producing one or more motions of the electronic equipment in response to the controlling signal, wherein a speed of movement of portions of the electronic equipment are moved relatively more gradually in response to relatively weaker emotions and relatively more quickly in response to relatively stronger emotions.
Claim 5
Independent Claim
104 words
A method of controlling movements of electronic equipment with an autonomous function based on a simulated emotion, the method comprising: detecting an object; producing an emotion based at least in part on the detected object; determining movements of the electronic equipment based on the emotion; generating a control signal based on the object and the movements; and producing one or more motions of the electronic equipment in response to the controlling signal, wherein a speed of movement of portions of the electronic equipment are moved relatively more gradually in response to relatively weaker emotions and relatively more quickly in response to relatively stronger emotions.
Claim 6
Dependent Claim
41 words
The method of claim 3 , wherein said determining movements of the electronic equipment is performed so that when a predetermined emotion is below a specified threshold, predetermined parts of the electronic equipment are moved relatively gradually to express the emotion.
Claim 7
Dependent Claim
14 words
The method of claim 4 , wherein the predetermined emotion comprises like or dislike.
Claim 8
Dependent Claim
30 words
The method of claim 4 , wherein the predetermined parts of the electronic equipment comprise at least one of a face, an eye, a neck, a hand, and a leg.
Claim 9
Dependent Claim
36 words
The method of claim 3 , wherein said determining movements of the electronic equipment is performed so that when a predetermined emotion is above a specified threshold, parts of the electronic equipment are moved relatively sharply.
Claim 10
Dependent Claim
119 words
The method of claim 3 A method of controlling movements of electronic equipment with an autonomous function based on a simulated emotion, the method comprising: detecting an object; producing an emotion based at least in part on the detected object; determining movements of the electronic equipment based on the emotion; generating a control signal based on the object and the movements; and producing one or more motions of the electronic equipment in response to the controlling signal, wherein said detecting an object includes searching in a relatively wide field-of-view and at a relatively lower resolution when looking for an object, and then searching in a relatively narrow field-of-view and a relatively higher resolution when the object has been found.
Claim 11
Dependent Claim
14 words
The method of claim 3 , wherein said detecting an object includes collecting images.
Claim 12
Independent Claim
107 words
A method of controlling movements of electronic equipment with an autonomous function based on a simulated emotion, the method comprising: detecting an object; producing an emotion based at least in part on the detected object; determining movements of the electronic equipment based on the emotion; generating a control signal based on the object and the movements; and producing one or more motions of the electronic equipment in response to the controlling signal, wherein said detecting an object includes a relatively rough search of the surroundings when the object has not been found, and then searching a specific region of the surroundings when the object has been found.
Claim 13
Independent Claim
107 words
A method of controlling movements of electronic equipment with an autonomous function based on a simulated emotion, the method comprising: detecting an object; producing an emotion based at least in part on the detected object; determining movements of the electronic equipment based on the emotion; generating a control signal based on the object and the movements; and producing one or more motions of the electronic equipment in response to the controlling signal, wherein said detecting an object includes a relatively rough search of the surroundings when the object has not been found, and then searching a specific region of the surroundings when the object has been found.
Claim 14
Independent Claim
80 words
A method of controlling movements of electronic equipment with an autonomous function based on a simulated emotion, the method comprising: detecting an object; producing an emotion based at least in part on the detected object; determining movements of the electronic equipment based on the emotion; generating a control signal based on the object and the movements; and producing one or more motions of the electronic equipment in response to the controlling signal, wherein said detecting an object includes collecting sounds.
Claim 15
Independent Claim
80 words
A method of controlling movements of electronic equipment with an autonomous function based on a simulated emotion, the method comprising: detecting an object; producing an emotion based at least in part on the detected object; determining movements of the electronic equipment based on the emotion; generating a control signal based on the object and the movements; and producing one or more motions of the electronic equipment in response to the controlling signal, wherein said detecting an object includes collecting sounds.
Claim 16
Independent Claim
80 words
A method of controlling movements of electronic equipment with an autonomous function based on a simulated emotion, the method comprising: detecting an object; producing an emotion based at least in part on the detected object; determining movements of the electronic equipment based on the emotion; generating a control signal based on the object and the movements; and producing one or more motions of the electronic equipment in response to the controlling signal, wherein said detecting an object includes collecting odors.
Claim 17
Independent Claim
80 words
A method of controlling movements of electronic equipment with an autonomous function based on a simulated emotion, the method comprising: detecting an object; producing an emotion based at least in part on the detected object; determining movements of the electronic equipment based on the emotion; generating a control signal based on the object and the movements; and producing one or more motions of the electronic equipment in response to the controlling signal, wherein said detecting an object includes collecting odors.
Claim 18
Independent Claim
81 words
A method of controlling movements of electronic equipment with an autonomous function based on a simulated emotion, the method comprising: detecting an object; producing an emotion based at least in part on the detected object; determining movements of the electronic equipment based on the emotion; generating a control signal based on the object and the movements; and producing one or more motions of the electronic equipment in response to the controlling signal, wherein said detecting an object includes collecting tactile senses.
Claim 19
Independent Claim
81 words
A method of controlling movements of electronic equipment with an autonomous function based on a simulated emotion, the method comprising: detecting an object; producing an emotion based at least in part on the detected object; determining movements of the electronic equipment based on the emotion; generating a control signal based on the object and the movements; and producing one or more motions of the electronic equipment in response to the controlling signal, wherein said detecting an object includes collecting tactile senses.
Claim 20
Independent Claim
116 words
An apparatus with emotion-based movements, comprising: an object detection device for detecting an object; an emotion-production module producing an emotion of the apparatus based on the detected object; a movement-determination module for determining movements of the apparatus based on the production of the emotion; a control signal generation module for generating a control signal based on the detected object and the determination of the movements of the apparatus; and a controlling device for controlling the movements of the apparatus in response to the controlling signal, wherein a speed of movement of portions of the apparatus are moved relatively more gradually in response to relatively weaker emotions and relatively more quickly in response to relatively stronger emotions.
Claim 21
Independent Claim
116 words
An apparatus with emotion-based movements, comprising: an object detection device for detecting an object; an emotion-production module producing an emotion of the apparatus based on the detected object; a movement-determination module for determining movements of the apparatus based on the production of the emotion; a control signal generation module for generating a control signal based on the detected object and the determination of the movements of the apparatus; and a controlling device for controlling the movements of the apparatus in response to the controlling signal, wherein a speed of movement of portions of the apparatus are moved relatively more gradually in response to relatively weaker emotions and relatively more quickly in response to relatively stronger emotions.
Claim 22
Dependent Claim
38 words
The electronic equipment of claim 14 , wherein the movement determination module operates so that when a predetermined emotion is below a specified threshold, predetermined parts of the electronic equipment are moved relatively gradually to express the emotion.
Claim 23
Dependent Claim
38 words
The electronic equipment of claim 14 , wherein the movement determination module operates so that when a predetermined emotion is above a specified threshold, predetermined parts of the electronic equipment are moved relatively sharply to express the emotion.
Claim 24
Independent Claim
127 words
An apparatus with emotion-based movements, comprising: an object detection device for detecting an object; an emotion-production module producing an emotion of the apparatus based on the detected object; a movement-determination module for determining movements of the apparatus based on the production of the emotion; a control signal generation module for generating a control signal based on the detected object and the determination of the movements of the apparatus; and a controlling device for controlling the movements of the apparatus in response to the controlling signal, wherein the object detection device is configured to perform a relatively low-resolution search to find an object, perform actions showing an emotion based on the relatively low-resolution search, and perform a relatively higher resolution examination of the object that has been found.
Claim 25
Independent Claim
127 words
An apparatus with emotion-based movements, comprising: an object detection device for detecting an object; an emotion-production module producing an emotion of the apparatus based on the detected object; a movement-determination module for determining movements of the apparatus based on the production of the emotion; a control signal generation module for generating a control signal based on the detected object and the determination of the movements of the apparatus; and a controlling device for controlling the movements of the apparatus in response to the controlling signal, wherein the object detection device is configured to perform a relatively low-resolution search to find an object, perform actions showing an emotion based on the relatively low-resolution search, and perform a relatively higher resolution examination of the object that has been found.
Claim 26
Independent Claim
144 words
An apparatus with emotion-based movements, comprising: an object detection device for detecting an object; an emotion-production module producing an emotion of the apparatus based on the detected object; a movement-determination module for determining movements of the apparatus based on the production of the emotion; a control signal generation module for generating a control signal based on the detected object and the determination of the movements of the apparatus; and a controlling device for controlling the movements of the apparatus in response to the controlling signal, wherein the object detection device includes at least one imaging device having an adjustable field of view, the imaging device having a relatively wide field-of-view and a relatively lower resolution for use when looking for an object, and the imaging device having a relatively narrow field-of-view and a relatively higher resolution for use when an object has been found.
Claim 27
Independent Claim
144 words
An apparatus with emotion-based movements, comprising: an object detection device for detecting an object; an emotion-production module producing an emotion of the apparatus based on the detected object; a movement-determination module for determining movements of the apparatus based on the production of the emotion; a control signal generation module for generating a control signal based on the detected object and the determination of the movements of the apparatus; and a controlling device for controlling the movements of the apparatus in response to the controlling signal, wherein the object detection device includes at least one imaging device having an adjustable field of view, the imaging device having a relatively wide field-of-view and a relatively lower resolution for use when looking for an object, and the imaging device having a relatively narrow field-of-view and a relatively higher resolution for use when an object has been found.
Claim 28
Independent Claim
97 words
An apparatus with emotion-based movements, comprising: an object detection device for detecting an object; an emotion-production module producing an emotion of the apparatus based on the detected object; a movement-determination module for determining movements of the apparatus based on the production of the emotion; a control signal generation module for generating a control signal based on the detected object and the determination of the movements of the apparatus; and a controlling device for controlling the movements of the apparatus in response to the controlling signal, wherein the object detection device includes a plurality of sound collection devices.
Claim 29
Independent Claim
97 words
An apparatus with emotion-based movements, comprising: an object detection device for detecting an object; an emotion-production module producing an emotion of the apparatus based on the detected object; a movement-determination module for determining movements of the apparatus based on the production of the emotion; a control signal generation module for generating a control signal based on the detected object and the determination of the movements of the apparatus; and a controlling device for controlling the movements of the apparatus in response to the controlling signal, wherein the object detection device includes a plurality of sound collection devices.
Claim 30
Independent Claim
97 words
An apparatus with emotion-based movements, comprising: an object detection device for detecting an object; an emotion-production module producing an emotion of the apparatus based on the detected object; a movement-determination module for determining movements of the apparatus based on the production of the emotion; a control signal generation module for generating a control signal based on the detected object and the determination of the movements of the apparatus; and a controlling device for controlling the movements of the apparatus in response to the controlling signal, wherein the object detection device includes at least one odor collection device.
Claim 31
Independent Claim
97 words
An apparatus with emotion-based movements, comprising: an object detection device for detecting an object; an emotion-production module producing an emotion of the apparatus based on the detected object; a movement-determination module for determining movements of the apparatus based on the production of the emotion; a control signal generation module for generating a control signal based on the detected object and the determination of the movements of the apparatus; and a controlling device for controlling the movements of the apparatus in response to the controlling signal, wherein the object detection device includes at least one odor collection device.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2007-03-16 | 2007-09-15 | 2008-03-16 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2011-03-16 | 2011-09-15 | 2012-03-16 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2015-03-16 | 2015-09-15 | 2016-03-16 | $7700.00 | Window Closed / Lapsed |