1. An information processing apparatus comprising:
modeling means for modeling a robot motion pattern executable on a robot control device in a reproducible dynamic form;
storing means for storing a plurality of robot motion patterns that are modeled by the modeling means;
motion pattern acquiring means for acquiring a motion pattern of an object, wherein the object is intended to be performed by the robot control device;
comparing means for comparing the plurality of modeled robot motion patterns stored in the storing means with the motion pattern acquired by the motion pattern acquiring means to provide a best match from said storing means;
selecting means for selecting, based on the best match of the comparing means, a stored robot motion pattern to be generated; and
error calculating means for determining a linear transformation from the modeled robot motion patterns stored in the storing means to the motion pattern acquired by the motion pattern acquiring means based on errors between the modeled robot motion patterns and the acquired motion pattern,
wherein the comparing means performs the comparison based on the linear transformation determined by the error calculating means.
2. An information processing apparatus comprising:
modeling means for modeling a robot motion pattern executable on a robot control device in a reproducible dynamic form;
storing means for storing a plurality of robot motion patterns that are modeled by the modeling means;
motion pattern acquiring means for acquiring a motion pattern of an object, wherein the object is intended to be performed by the robot control device;
comparing means for comparing the plurality of modeled robot motion patterns stored in the storing means with the motion pattern acquired by the motion pattern acquiring means to provide a best match from said storing means; and
selecting means for selecting, based on the best match of the comparing means, a stored robot motion pattern to be generated;
wherein the modeling means, the storing means, and the comparing means comprise a recurrent neural network.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A method for transmitting information between applications (A1, A2) executed in a first (TE1) and a second data transmission device (TE2) in a data transmission system, in which information transmission a data transmission protocol is used, wherein in the method one or more protocol conversions are conducted in the protocol stack (ST) for the information to be transmitted, said protocol stack comprising at least an application layer (L7) and a physical layer (L1), characterized in that at the transmission stage messages (FR1) are produced from the information and that the production of the messages (FR1) is conducted in the application layer (L7).
2. The method according to claim 1, characterized in that in the method at least two types of messages are transmitted in the messages, wherein the messages (FR1) contain information on the type of the message transmitted in the message (FR1).
3. The method according to claim 2, characterized in that the messages (FR1) are provided at least with a header field (H1), on the basis of which the type of the message is determined.
4. The method according to claim 3, characterized in that said header field (H1) is divided at least in two different parts, wherein the first part (C1) is used in all messages (FR1) and said second part (T1) is used, if necessary, in the transmission of the type-specific information of the message transmitted in the message.
5. The method according to claim 3 or 4, characterized in that the messages (FR1) are also provided with a data field (D1) to transmit information produced in the application (A1, A2).
6. The method according to any of the claims 1 to 5, characterized in that in the protocol stack (ST) at least a session layer (L5) is used between the application layer (L7) and the physical layer (L1), in which the protocol (WSP, HTTP) used therein contains data frames (FR2), containing at least a header field (H2) and a data field (D2), wherein the messages produced in the application layer are transferred to the data field (D2) of the data frames (FR2) of the session layer.
7. The method according to any of the claims 1 to 6, characterized in that the WAP system is at least partly used as the data transmission system.
8. The method according to any of the claims 1 to 6, characterized in that the Internet data transmission network is at least partly used as the data transmission system.
9. A data transmission system which comprises means for transmitting information between applications (A1, A1) executed in a first (TE1) and second data transmission device (TE2) in a data transmission system in which the information is arranged to be transmitted by means of a data transmission protocol, wherein the data transmission system comprises means for conducting one or more protocol conversions for the information to be transmitted in the protocol stack (ST) which comprises at least an application layer (L7) and a physical layer (L1), characterized in that the data transmission system also comprises at least means (MPU, MEM) for producing messages (FR1) from the information to be transmitted, and that the production of the messages (FR1) is arranged to be conducted in the application layer (L7).
10. The data transmission system according to claim 9, characterized at least two types of messages are arranged to be transmitted in the messages (FR1), wherein the messages are supplemented with information on the type of the message transmitted in the message (FR1).
11. The data transmission system according to claim 10, characterized in that the messages (FR1) are provided at least with a header field (H1), on the basis of which the type of the message is arranged to be determined.
12. The data transmission system according to claim 1 1, characterized in that said header field (H1) is divided at least in two different parts, wherein the first part (C1) is arranged to be used in all messages (FR1) and said second part (T1) is arranged to be used, if necessary, in the transmission of the type-specific information of the message transmitted in the message.
13. The data transmission system according to claim 11 or 12, characterized in that the messages (FR1) are also provided with a data field (D1) to transmit information produced in the application (A1, A2).
14. The data transmission system according to any of the claims 9 to 13, characterized in that in the protocol stack (ST) at least a session layer (L5) is used between the application layer (L7) and the physical layer (L1), in which the protocol (WSP, HTTP) used therein contains data frames (FR2), containing at least a header field (H2) and a data field (D2), wherein the messages produced in the application layer are arranged to be transferred to the data field (D2) of the data frames (FR2) of the session layer.
15. The data transmission system according to any of the claims 9 to 14, characterized in that the data transmission system comprises at least the WAP system.
16. The data transmission system according to any of the claims 9 to 14, characterized in that the data transmission system comprises at least the Internet data transmission network.
17. A terminal (TE1, TE2) which comprises at least means (MPU, MEM) for executing applications (A1, A2) and means (RF, ANT) for transmitting information produced in the application to a data transmission system to transmit information to an application (A1, A29 executed in a second data transmission device (TE2), in which data transmission system information is arranged to be transmitted by means of a data transmission protocol, wherein the terminal (TE1, TE2) also comprises means (MPU, MEM) for conducting one or more protocol conversions for the information to be transmitted in a protocol stack (ST) comprising at least an application layer (L7) and a physical layer (L1), characterized in that the terminal (TE1, TE2) also comprises at least means (MPU, MEM) for producing messages (FR1) from the information to be transmitted, and that the production of messages (FR1) is arranged to be conducted in the application layer (L7).