A mobile device that is able to locate itself in a topological map using a combination of visual and radio information is provided. The mobile device captures an image of its environment, detects receivable radio transmitters and builds an observation vector that defines visual words and radio words that are present at the current location of the mobile device. It then compares this observation vector to reference vectors corresponding to reference location and identifies, based on correlations between visual words and radio words, the location of the mobile device among reference locations.
H04W 4/30 - Services specially adapted for particular environments, situations or purposes
H04W 4/33 - Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
G01S 5/02 - Position-fixing by co-ordinating two or more direction or position-line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
H04W 64/00 - Locating users or terminals for network management purposes, e.g. mobility management
CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE (France)
Inventor
Cerruti, Giulio
Chablat, Damien
Clerc, Vincent
Gouaillier, David
Abstract
A hand intended to equip a humanoid robot, the hand includes a palm and at least one finger extending along a first axis, the hand being capable of picking up an object, the finger comprising a first phalanx linked to the palm by a first motorized pivot link and a second phalanx consecutive to the first phalanx linked to the first phalanx by a second pivot link. The finger comprises a first mechanism linking the palm to the second phalanx configured such that the rotation of the first phalanx about the second axis causes the second phalanx to rotate about the third axis, and a second mechanism linking the palm to each of the phalanges configured to actuate the finger in such a way that the finger wraps around the object to be picked up, and the second mechanism is configured to deform the first mechanism.
The invention relates to the operating safety of a robot comprising: two elements (2, 8) that can move relative to one another; a joint (13) with at least one degree of freedom, connecting the two elements (2, 8); and a flexible elastic film (20) surrounding the joint (13) and attached to each of the two elements, said film (20) being stretched between its attachments in at least one configuration of the two elements (2, 8).
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
B23Q 11/08 - Protective coverings for parts of machine tools; Splash guards
A robot or other conversational agent determines whether a human interlocutor has ceded the conversational floor by detecting the absence of a particular speech characteristic such as the introduction of filler speech at the end of an utterance, and the presence of a characteristic physical behaviour, such as the interlocutor returning their gaze to a focal point of the conversion, such as the robot's face, during a specified time window after the end of the utterance. Where this combination of characteristics is detected, the robot can determine that the conversational floor is open and that a response may be appropriate. This may trigger a conversational response for example via voice or text.
A mobile robot is provided to follow a trajectory and adopt a behavior which can be defined by movements of articulated limbs of the robot. The mobile robot is equipped with a processor which is configured, based on instructions defining a motion of the mobile robot and instructions defining a behavior of the mobile robot, to calculate a target trajectory of a center of mass of the mobile robot; calculate, based on the target trajectory of the center of mass of the mobile robot and dynamic constraints of the mobile robot, a predicted trajectory of the center of mass of the mobile robot over a time horizon, and calculate, based on the predicted trajectory of the center of mass of the mobile robot and the instructions defining a behavior of the mobile robot, predicted movements of articulated limbs.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
G05D 1/08 - Control of attitude, i.e. control of roll, pitch, or yaw
7.
IMPROVED LOCALIZATION OF A MOBILE DEVICE BASED ON IMAGE AND RADIO WORDS
The invention relates to a mobile device (200) that is able to locate itself in a topological map using a combination of visual and radio information. The mobile device (200) captures an image (310) of its environment, detects receivable radio transmitters (320) and builds an observation vector (330) that defines visual words (331) and radio words (332) that are present at the current location of the mobile device (200). It then compares this observation vector to reference vectors corresponding to reference location and identifies, based on correlations between visual words and radio words, the location of the mobile device (200) among reference locations.
CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE (France)
Inventor
Cerruti, Giulio
Chablat, Damien
Clerc, Vincent
Gouaillier, David
Abstract
The invention concerns a hand intended to equip a humanoid robot, the hand comprising a palm and at least one finger (20) extending along a first axis (21), the hand being capable of picking up an object, the finger (20) comprising a first phalanx (31) linked to the palm by a first motorised pivot link (41) and a second phalanx (32) consecutive to the first phalanx (31) linked to the first phalanx (31) by a second pivot link (42). According to the invention, the finger (20) comprises a first mechanism (51) linking the palm to the second phalanx (32) configured such that the rotation of the first phalanx (31) about the second axis (22) causes the second phalanx (32) to rotate about the third axis (23), and a second mechanism (52) linking the palm to each of the phalanxes (31, 32) configured to actuate the finger (20) in such a way that the finger (20) wraps around the object to be picked up, and the second mechanism (52) is configured to deform the first mechanism (51).
The invention relates to a mobile robot which is able to follow a trajectory and adopt a behavior which can be defined by movements of articulated limbs of the robot. The mobile robot is equipped with a processor which is configured, based on instructions defining a motion of the mobile robot and instructions defining a behavior of the mobile robot, to calculate a target trajectory of a center of mass of the mobile robot; calculate, based on the target trajectory of the center of mass of the mobile robot and dynamic constraints of the mobile robot, a predicted trajectory (350)of the center of mass of the mobile robot over a time horizon, and calculate, based on the predicted trajectory of the center of mass of the mobile robot and the instructions defining a behavior of the mobile robot, predicted movements of articulated limbs.
The invention concerns a method for recharging a battery of a robot on a recharging base complementary to the robot and capable of receiving the robot and intended to recharge the battery of the robot, the recharging base being capable of being connected to an electrical power source, the recharging base comprising an electrical connector arranged so as to allow the battery to be physically connected with the electrical connector, allowing the battery to be electrically connected with the recharging base in order to recharge the battery. According to the invention, the method comprises the following steps: · positioning the robot in front of the recharging base in a first preferred movement direction (step 1003), · making the robot perform an about-turn (step 1004), · reversing the robot towards the base in a second direction, opposite the first preferred movement direction, in order to come into contact with the base (step 1005), · reversing the robot up onto the recharging base in the second direction (step 1006), · positioning the robot on the recharging base until physical connection is achieved (step 1010), · electrically connecting the battery with the recharging base (step 1019), · recharging the battery (step 1014).
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
B25J 5/00 - Manipulators mounted on wheels or on carriages
G05D 1/02 - Control of position or course in two dimensions
There is disclosed a system comprising a data communication bus comprising one or more modified complex programmable logic devices, wherein a modified complex programmable logic devices is adapted to communicate data frames at different communication speeds simultaneously. Developments of the invention describe the use of one or more master devices interconnected with one or more heterogeneous slave devices associated with a plurality of communication rate/speed requirements, the use of predefined firmware programs, the use of sensors and/or actuators, the use of one or more high speed and bidirectional Serializer/Deserializer circuits and the use of low-voltage differential signaling amplifiers.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
There is disclosed a method of manufacturing a robot comprising the steps of discovering a plurality of generic components, said generic components being interconnected and non-functional in the robot; determining the spatial position of each generic component in the robot; retrieving respective firmware associated with each generic component; modifying a generic component into a specified component, by programming the firmware of said generic component with a said retrieved firmware. Described developments comprise the use of encryption mechanisms, the use of one or more bootloaders, the use of decentralized or distributed storage of firmware and the use of predefined hardware abstraction layers. Software and system aspects (e.g. multi-masters architectures) are described.
The invention relates to a charging assembly comprising an object comprising a battery and a plug (10) intended to charge the battery, the plug (10) being capable of being connected to an electricity source. According to the invention, the object comprises a base suitable for receiving the plug (10), comprising a first electrical connector, a first magnetic connector suitable for positioning the plug (10) with respect to the base. The plug (10) comprises a contact surface, the shape of which is complementary to a surface of the base, a second electrical connector (12) positioned so as to come into contact with the first electrical connector in order to allow electrical contact between the first and second electrical connectors (12) when the contact surface is positioned on the surface of the base, a second magnetic connector, positioned in proximity to the contact surface, attracting the first magnetic connector, so as to allow the first and second electrical connectors to be aligned and electrical contact to be maintained during the charging of the battery. One of the first and second electrical connectors (12) is a surface connector and the other of the first and second electrical connectors is a point connector (14) that is positioned so as to rest against the surface connector, for multiple separate orientations of the contact surface on the base.
A method to compute a pixel map of probabilities of absence and presence of an obstacle in the environment of an autonomous robot comprising at least one sensor grouped in at least one set of sensors that detect obstacles of similar types and have its own sensor initial map of probability of absence of obstacles is provided. The method comprises the steps of initializing a map around the robot and attached to the robot with a predefined value of probability of absence or presence of an obstacle, acquiring data representative of the absence or presence of an obstacle around the robot from at least one sensing procedure, and concurrently updating values of probabilities using data from sensing procedure and modifying the probabilities of absence or presence of obstacle from previous observations to a value closer to a predefined value.
The invention concerns a moving object (60) that can move on a horizontal plane (14), comprising a body (9) comprising a contact area (17) in contact with the horizontal plane (14), and a cam (11) movable in rotation relative to the body (9) about a cam axis X, the cam (11) having a contact surface (12) in contact with the horizontal plane (14) during the rotation of same. According to the invention, the contact surface (12) of the cam (11) comprises separate first (15) and second (16) portions, each of the first (15) and second (16) portions having a different coefficient of friction, the coefficient of friction of the first portion (15) being greater than the coefficient of friction of the second portion (16), the first portion (15) being configured to roll without slipping on the horizontal plane (14), the second portion (16) being configured to slip without rolling on the horizontal plane (14), and the body (9) is configured to rotate relative to the horizontal plane (14) about a vertical axis (Z) perpendicular to the cam axis (X) when the first portion (15) rolls without slipping on the horizontal plane (14) and to rotate relative to the horizontal plane (14) about a horizontal axis (Y) perpendicular to the cam axis (X) and the vertical axis (Z) when the second portion (16) slips without rolling on the horizontal plane (14).
B62D 57/02 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
B25J 5/00 - Manipulators mounted on wheels or on carriages
The invention relates to a motorized humanoid robot (50) that has a positioning axis (11) extending along a reference axis (12) in a reference position and is able to move on a horizontal plane (13), comprising a first wheel (14) and a second wheel (15) in contact with the horizontal plane (13). According to the invention, the robot (50) comprises a base (17) having a left-hand surface (18) which, in a vertical plane passing through the centre of the wheels (14, 15), extends on either side of each of the wheels (14, 15), the left-hand surface (18) being able to form, at any point on the left-hand surface (18), a first point of contact with the horizontal plane (13), defining a centre of rotation (O) for any first point of contact, and the robot (50) is configured such that the centre of rotation (O) and the centre of gravity (G) of the robot (50) are offset so as to generate a torque that tends to return the robot (50) to the reference position from any position in which its positioning axis (11) forms a non-zero angle with the reference axis (12).
INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE (France)
Inventor
Lafaye, Jory
Collette, Cyrille
Wieber, Pierre-Brice
Abstract
A humanoid robot with a body joined to an omnidirectional mobile ground base, equipped with: a body position sensor, a base position sensor and an angular velocity sensor to provide measures, actuators comprising at least 3 wheels located in the omnidirectional mobile base, extractors for converting sensored measures into useful data, a supervisor to calculate position, velocity and acceleration commands from the useful data, means for converting commands into instructions for the actuators, wherein the supervisor comprises: a no-tilt state controller, a tilt state controller and a landing state controller, each controller comprising means for calculating, position, velocity and acceleration commands based on a double point-mass robot model with tilt motion and on a linear model predictive control law, expressed as a quadratic optimization formulation with a weighted sum of objectives, and a set of predefined linear constraints.
INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE (France)
Inventor
Lafaye, Jory
Gouaillier, David
Wieber, Pierre-Brice
Abstract
A humanoid robot with a body joined to an omnidirectional mobile ground base, and equipped with: a body position sensor and a base position sensor to provide measures, actuators comprising at least 3 wheels located in the omnidirectional mobile base, extractors for converting the measures into useful data, a controller to calculate position, velocity and acceleration commands from the useful data using a robot model and pre-ordered position and velocity references, means for converting the commands into instructions for the actuators, wherein the robot model is a double point-mass model, and wherein the commands are based on a linear model predictive control law with a discretized time according to a sampling time period and a number of predicted samples, and expressed as a quadratic optimization formulation with: a weighted sum of objectives and a set of predefined linear constraints.
G06F 19/00 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
A humanoid robot which is capable of surveying its environment, notably to determine when humans are present and to engage in Activities with humans corresponding to an evaluation of their desires is provided. An operating system of the robot is configured in the robot to process the information received by Extractors (sensors and processing capabilities), to list Activities (gestures, dialogs, etc. . . . ) which are prioritized as a function of the current conditions and the history of engagement with the humans, to decide which Activity is to be launched and to have Actuators execute the Activity. Safeguard conditions of the robot are also taken into account in the list of Activities to be performed.
09 - Scientific and electric apparatus and instruments
14 - Precious metals and their alloys; jewelry; time-keeping instruments
16 - Paper, cardboard and goods made from these materials
18 - Leather and imitations of leather
21 - HouseHold or kitchen utensils, containers and materials; glassware; porcelain; earthenware
25 - Clothing; footwear; headgear
28 - Games; toys; sports equipment
35 - Advertising and business services
41 - Education, entertainment, sporting and cultural services
Goods & Services
Industrial robots; industrial humanoid robots for studies and engineering; industrial assistance robots Optical, signaling and teaching apparatus and instruments, namely, electro-optical sensor, interactive electronic whiteboards, PC graphics tablets, Tablet PCs, and personal digital assistants; Computers, mobile computers, communications computers; Computer terminals; Data processing apparatus and computers; Computer interface apparatus; Peripherals adapted for use with computers; Calculators; Data processing equipment; Pattern recognition systems consisting of computer chips, hardware and software for recognizing patterns; Computer programs for searching remotely for content on computers and computer networks; Software for synchronizing data between hand-held or portable computers and host computers; Electric batteries; Control apparatus, namely, apparatus comprising remote controls for radios, televisions, stereos, humanoid robots with artificial intelligence, industrial robots, and computer hardware and memory cards for computer hardware for the remote control of toy robots; computer Memory cards; Humanoid robots with artificial intelligence; laboratory robots; computer bags; humanoid robots with artificial intelligence for engineering; domestic robots other than industrial robots, namely, robots with computer hardware and software for processing, reproducing, synchronizing, recording, organizing, downloading, uploading, transmitting, streaming, receiving, playing digital media, multimedia, audio and data files, portable electronic devices for receiving and reading test, images and sound through wireless Internet access with personal assistant capabilities Jewellery; Articles of jewellery, namely, jewelry cases, rings, earrings, necklaces, cuff links, bracelets being jewelry, charms for jewellery, brooches, Jewellery chains, pins being jewelry, medals, non-monetary coins; clocks, namely, watches, wristwatches and digital alarm clocks; Fancy keyrings of precious metals Printed matter, namely, brochures, user guides, magazines related to robotics; Bookbinding material; Printed photographs; Stationery; Paint brushes; Printing blocks; Paper; Paperboard; Boxes of cardboard or paper; Posters; Scrapbooks; Cards, namely, note cards; Books in the field of robots; Newspapers; Booklets in the field of robots; Calendars; Writing instruments; Print engravings or lithographic works of art; Paintings, namely, pictures framed or unframed; Aquarelles; Drawings; Paper stationery; Table linen of paper; Paper or plastics bags for packaging; gift bags Luggage; bags, namely, leather bags, sling bags, belt bags, school bags, souvenir bags; wallets, purses, umbrellas, parasols Utensils for household or kitchen use, namely, kitchen tongs; containers for household or kitchen use; Combs and cleaning sponges; Brushes except paint brushes, namely, cleaning brushes for household use; Unworked or semi-worked glass, except building glass; Glassware, namely, table glassware, decorative figurine glassware, porcelain, namely, porcelain bowls, porcelain dishes, porcelain decorative dishes, decorative figurine porcelain and earthenware, namely, dishes, decorative figurine earthenware, earthenware decorative dishes Clothing, namely, shirts, pants, dresses, skirts, scarves, shawls; Footwear, headwear Games, namely, board games; Toys, namely, dolls; electronic toys, namely, electronic toy vehicles, electronic toy figurines, electronic toy robots; electronic action games, electronic learning games, namely, electronic games for the teaching of children; Toy people; Dolls; Rubber character toys; Plastic character toys; remote controls for toy robots Advertising; Business management; Business administration; Arranging subscriptions to telecommunications services for others; Providing television home shopping services in the field of general consumer merchandise; Business management and organization consultancy; Computerised file management; On-line advertising on a computer network; Rental of advertising time on communication media; Publication of publicity texts; Rental of advertising space; Dissemination of advertising matter Teaching, education, practical training and entertainment services, namely, providing classes in remedial reading, and teaching art, via a humanoid robot; Organizing competitions for educating or entertaining purposes in the field of sports and robotic engineering; Social club services, namely, arranging, organizing and hosting social events, get-together, and parties for club members; arranging and conducting of educational workshops, congresses, lessons in the field of exercise, sciences, music, arts, nature, and sports; Organization of exhibitions for cultural or educational purposes; Arranging and conducting of seminars in the field of robotics; Conducting distance learning instruction at the university level or at elementary school or college level; Providing recreation facilities; Games equipment rental; Organization of lotteries; Organization of sports competitions; Electronic publication of books and periodicals online
22.
Device for prepositioning and removably attaching articulated limbs of a humanoid robot
A mobile robot comprises a trunk and several limbs removably linked to the trunk. Each of the limbs are configured for prepositioning the limb on the trunk, and a single flange is linked to the trunk and configured to removably fix all the limbs to the trunk. Each of the limbs comprises a motorized articulation, via which the limb is positioned and fixed onto the trunk, and can be driven in movement relative to the trunk.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
A humanoid-type robot comprises two elements and an articulation with at least one degree of freedom linking the two elements, the articulation allowing a travel in a given range in operational operation, a first of the two elements being intended to come into contact with an abutment belonging to a second of the two elements at the end of the range. According to the invention, the robot further comprises at least one switch. The switch is configured to actuate an electrical contact when a force exerted by the first element against the abutment exceeds a given force.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
24.
Device for detecting an obstacle by means of intersecting planes and detection method using such a device
An obstacle detection device to be fitted to a mobile vehicle able to move parallel to a reference plane comprises: at least two emitters of electromagnetic beams which are able to form two virtual planes in two different directions that are able to intersect one another and intersect a potential obstacle, at least one image sensor able to produce an image of the intersection of the virtual planes and of the potential obstacle, an image analysis means able to determine the presence of an obstacle, configured to compare the image with a reference image. A detection method employing such a device is also provided.
A secured motorized articulation mounted between a first and a second limb of a humanoid-type robot, comprises: a motor comprising a fixed part linked to the first limb, and a mobile part that can be moved relative to the fixed part and linked to the second limb relative to the first limb, a brake capable of exerting a force on the mobile part of the motor by spring effect, to prevent the movement of the mobile part relative to the fixed part, an actuator capable of displacing the brake by opposing the spring effect, so as to release the mobile part of the motor from the force of the brake and allow the motor to move the mobile part relative to the fixed part.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
A shock-absorbing device for a humanoid robot, comprises a rigid structure linked to the humanoid robot, a deformable outer shell, and a shock-absorber; the shock-absorber consisting of a flexible cellular structure comprising a set of cells emerging in a main direction, and being secured to the rigid structure at a first end in the main direction, and linked to the deformable outer shell at a second end opposite the first in the main direction. Advantageously, the outer shell is also linked directly to the rigid structure by means of at least one absorbent fixing of silent block type. The invention relates also to a humanoid robot, and in particular the head of a humanoid robot, comprising such a shock-absorbing device.
H05K 7/00 - Constructional details common to different types of electric apparatus
H05K 5/00 - Casings, cabinets or drawers for electric apparatus
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
F16F 1/377 - Springs made of material having high internal friction characterised by having a particular shape having holes or openings
F16F 1/36 - Springs made of material having high internal friction
F21V 15/04 - Resilient mountings, e.g. shock-absorbers
A hand intended for a humanoid robot comprising a palm and several fingers, each of the fingers being able to be displaced in relation to the palm between a position of rest maintained by spring effect and a compressed position obtained by driving a link part with the palm countering the spring effect, comprises a motorized shaft, linked to the link part of each of the fingers, and configured to respectively displace at least one first finger and at least one second finger, from the position of rest to the compressed position, by rotation of the motorized shaft respectively in a first direction of rotation and in an opposite direction.
A hand intended for a humanoid robot comprises a palm and at least one finger articulated to the palm, the finger comprising at least one phalanx and an articulation linking the phalanx to the palm, the phalanx extending in a main direction. According to the invention, the articulation comprises an elastic joining piece allowing several degrees of freedom. The hand comprises motorization means for a degree of freedom in rotation out of the degrees of freedom made possible by the joining piece, the motorized degree of freedom in rotation allowing a relative movement about an axis at right angles to the main direction of the phalanx. The other degrees of freedom out of the degrees of freedom made possible by the joining piece are not motorized.
A hand intended for a humanoid robot comprises a palm and several fingers that are motorized relative to the palm. According to the invention, the hand comprises an actuator common to several fingers and a spreader making it possible to distribute a force exerted by the actuator toward the fingers.
B66C 1/00 - Load-engaging elements or devices attached to lifting, lowering, or hauling gear of cranes, or adapted for connection therewith for transmitting forces to articles or groups of articles
B66C 1/42 - Gripping members engaging only the external or internal surface of the articles
A spherical wheel to move a vehicle comprises two caps, the surface of which follows the spherical surface of the wheel, the caps being articulated by means of a pivot link relative to a shaft. The wheel further comprises two casters each arranged in an opening of each of the caps, the opening centered about the axis of the corresponding pivot link, each caster arranged in the extension of the pivot link of the cap concerned. Each caster ensures a rolling at the level of the spherical surface. Radii S of the opening of each cap and r of the corresponding caster are defined to substantially balance forces needed to drive a cap and the corresponding caster when the wheel goes from bearing on the ground on a cap at the edge of the opening to bearing on the ground on the corresponding caster.
B62D 61/06 - Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with only three wheels
B60B 37/04 - Wheel-axle combinations, e.g. wheel sets the wheels being rigidly attached to solid axles
32.
Method for locating a sound source, and humanoid robot using such a method
A method for locating a sound source by maximizing a directed response strength calculated for a plurality of vectors of the interauricular time differences forming a set comprises: a first subset of vectors compatible with sound signals from a single sound source at an unlimited distance from the microphones; and a second subset of vectors not compatible with sound signals from a signal sound source at an unlimited distance from the microphones. Each vector of the first subset is associated with a direction for locating the corresponding single sound source, and each vector of the second subset is associated with the locating direction of a vector of the first subset closest thereto according to a predefined metric. A humanoid robot including: a set of at least three microphones, arranged on a surface higher than the head of thereof; and a processor for implementing one such method is provided.
G01S 3/808 - Systems for determining direction or deviation from predetermined direction using transducers spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
33.
IMPROVEMENT TO THE ASSEMBLY OF A ROBOT OF HUMANIOID NATURE
The invention relates to the improvement of the assembly of a robot of humanoid nature comprising two elements and a joint having at least one degree of freedom in rotation connecting the two elements about an axis, it being possible for the joint to be assembled and dismantled so as to attach and detach the two elements. According to the invention, the robot further comprises: · a casing (30) of circular section fixed to a first of the two elements and extending along an axis (35) substantially parallel to the axis of rotation of the joint, · a cable having two ends (36, 37) of which a first (36) is connected to the first element and a second (37) is connected to the second element. The cable is partially wound up inside the casing (30) about the axis (35) of the casing (30) and extends out of the casing (30) as far as the second end (37) thereof. Between a configuration in which the two elements are detached and a configuration in which the two elements are attached, elasticity of the cable allows same to wind up in the casing (30). The robot is assembled by first of all connecting the cable (30) at the two ends thereof then by mechanically assembling the joint.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
H02G 11/02 - Arrangements of electric cables or lines between relatively-movable parts using take-up reel or drum
The invention relates to a charging base comprising a mobile vehicle and a charging base (200) of a shape that complements the mobile vehicle and is able to accept the mobile vehicle and intended to recharge a battery of a mobile vehicle comprising at least one wheel (50, 51, 52), the base (200) being connectable to a power supply, characterized in that the base (200) comprises: • a receiving surface (210) and a base plane (220) intended to be placed on a reference plane (230), the receiving surface (210) and the base plane (220) of the base (200) making an acute angle (240), · a hemispherical cavity (250) recessed into the receiving surface (210) and intended to receive the at least one wheel (50, 51, 52), • at least one electric connector (260) positioned in such a way as to allow connection between the base (200) and the battery as the at least one wheel (50, 51, 52) drops into the hemispherical cavity (250). The invention also relates to a recharging method implementing a charging base according to the invention.
The invention relates to a device that includes a key (60) and a humanoid robot including a plurality of mechanisms (70) actuatable from outside the robot, which is characterized in that each mechanism (70) includes a connection interface (72) into which the key (60) can be inserted. The interface (72) for connecting each mechanism (70) is configured such that inserting the key (60) actuates the mechanism (70). Advantageously, the key (60) includes two elongate fingers (61a, 61b) that are to be simultaneously inserted into two longitudinal openings (73a, 73b).
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
There is disclosed a computer-implemented method of executing a standby mode for a robot, comprising the steps of measuring one or more parameters associated with one or more parts of the robot (e.g. the temperature of one or more motors); receiving one or more standby optimization rules associated with said parameters (e.g. maximizing the dissipation of the heat of the motor), and executing one or more received standby optimization rules (e.g. executing a body animation to cool down motors). The monitored parameters comprise motor temperature measures and/or energy consumption values and/or values quantifying signs of wear. Optimization rules comprise the minimization of the consumption of energy and/or the minimization of wear and/or the maximization of the dissipation of the heat. In developments, a predefined animation can be associated a valuable social engagement score. Further aspects are disclosed, including the optional use of accessories. System aspects and computer programs are described.
B25J 11/00 - Manipulators not otherwise provided for
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
37.
DEVICE FOR DETECTING AN OBSTACLE BY MEANS OF INTERSECTING PLANES AND DETECTION METHOD USING SUCH A DEVICE
The invention relates to a device (10) for detecting obstacles intended for being provided on a mobile vehicle (11) parallel to a reference plane (12). According to the invention, the device (10) comprises: at least two emitters (14, 16, 19, 32, 34, 35) of an electromagnetic beam (15, 17, 20, 27, 30, 31) capable of forming two virtual planes (22, 23, 24, 26, 28, 29) in two separate directions that can intersect one another and a possible obstacle; at least one image sensor (5, 6, 7) capable of producing an image of the intersection of the virtual planes (22, 23, 24, 26, 28, 29) and of the possible obstacle; an image-analysis means capable of determining the presence of an obstacle, configured so as to compare the image with a reference image. The invention also relates to a detection method using such a device.
G01S 17/46 - Indirect determination of position data
G01S 17/93 - Lidar systems, specially adapted for specific applications for anti-collision purposes
G01B 11/25 - Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. moiré fringes, on the object
G05D 1/02 - Control of position or course in two dimensions
38.
DEVICE FOR PREPOSITIONING AND REMOVABLY ATTACHING ARTICULATED LIMBS OF A HUMANOID ROBOT
The invention relates to a moving robot comprising a trunk (11) and a plurality of limbs (12, 13, 14) joined to the trunk (11) in a removable manner, characterized in that it comprises: for each of the limbs (12), means (32, 28, 36, 37) for pre-positioning, said limb (12) on the trunk (11), and a single flange (25) connected to the trunk (11) and configured to removably attach all of the limbs (12, 13, 14) to the trunk (11). Each of the limbs (12, 13, 14) comprises a motorized joint (22, 23, 24), by means of which the limb (12, 13, 14) is positioned and attached on the trunk (11), and can be driven to move with respect to the trunk (11).
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
39.
DEVICE FOR DETECTION OF OBSTACLES IN A HORIZONTAL PLANE AND DETECTION METHOD IMPLEMENTING SUCH A DEVICE
The invention relates to an obstacle detection device (10) for equipping a moving vehicle (11) moving parallel to a reference plane (12), characterized in that it comprises: · a first "horizontal" transmitter (14) of a first horizontal electromagnetic beam (15) extending in a first virtual plane (22) substantially parallel to the reference plane (12), · a first image sensor (5) capable of covering a field (36) intended to intersect with the first virtual plane (22) to form a detection surface (71) · and an image analysis means for determining the presence of an obstacle by detection of the presence of an image on the detection surface (71). The invention also relates to a detection method implementing such a device.
G01S 17/46 - Indirect determination of position data
G01S 17/93 - Lidar systems, specially adapted for specific applications for anti-collision purposes
G01B 11/25 - Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. moiré fringes, on the object
G05D 1/02 - Control of position or course in two dimensions
The invention relates to a humanoid-type robot (10') comprising two elements (1, 2) and an articulation (20) with at least one degree of freedom that connects the two elements (1, 2), the articulation (20) allowing travel in a given range (α) during operation, a first (1) of the two elements being intended to come into contact with a stop (22) belonging to a second (2) of the two elements at the end of the range (α). According to the invention, the robot (10) also comprises at least one switch. The switch is configured to actuate an electrical contact when a force exerted on the stop (22) by the first element (1) exceeds a given force.
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
The invention relates to the safety of use of a humanoid-type robot. The humanoid-type robot comprises two elements (2, 3) and an articulation (11) with at least one degree of freedom that connects the two elements, the two elements each comprising a skin (22, 23) delimiting the outer surface thereof, the articulation (11) allowing movement in a given range, a first of the two elements (2, 3) being intended to come substantially into contact with a region (25, 26) of the skin (22, 23) of a second of the two elements at one end of the range. According to the invention, the region (25, 26) is flexible such that it can be deformed by a given distance with a force less than a given force. The first element (3) is coupled to the second element (2) by passing through the flexible region (26).
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
There is disclosed a computer-implemented method of determining a collision between an object and a robot, comprising monitoring one or more articular parts of said robot by measuring the parameters associated with the real displacements of said one or more articular parts; comparing said measured parameters with the expected parameters associated with the corresponding commanded displacements; and determining the probability of a collision with an object. Described developments comprise the exclusion of system failures, the identification of the collided object by computer vision or by communicating with said object, the execution of one or more actions such as a safety mode, the identification of systematic discrepancies in performed comparisons, the grouping of articular parts belonging to a same articular chain, and the mutual surveillance of robots. The use of capacitive sensors, bumper sensors and magnetic rotary encoders is disclosed.
The invention relates to a humanoid robot which can move on its lower limb to execute a trajectory. According to the invention, the robot is capable of detecting intrusion of obstacles in a safety zone defined around its body as a function of its speed. Preferably when the robot executes a predefined trajectory, for instance a part of a choreography, the robot which avoids collision with an obstacle will rejoin its original trajectory after avoidance of the obstacle. Rejoining trajectory and speed of the robot are adapted so that it is resynchronized with the initial trajectory. Advantageously, the speed of the joints of the upper members of the robot is adapted in case the distance with an obstacle decreases below a preset minimum. Also, the joints are stopped in case a collision of the upper members with the obstacle is predicted.
The invention relates to a method to compute a pixel map of probabilities of one of absence and presence of an obstacle in the environment of an autonomous robot. Autonomous robot comprises at least one sensor grouped in at least one set of sensors that detect obstacles of similar types and have its own sensor initial map of probability of absence of obstacles. The method comprises the steps of initializing, a map around the robot and attached to the robot with a predefined value of probability of absence or presence of an obstacle, acquiring data representative of the absence or presence of an obstacle around the robot from at least one sensing procedure, and concurrently updating values of probabilities using data from sensing procedure and modifying the probabilities of absence or presence of obstacle from previous observations to a value closer to a predefined value.
The invention relates to a secure, motor-driven hinge to be mounted between a first and second member of a humanoid robot, characterized in that said hinge includes: a motor (21) including a stationary portion (25), to be connected to the first member, and a movable portion (26), movable relative to the stationary portion (25) and intended for connecting to the second member relative to the first member; a brake (22) capable of exerting a force on the movable portion (26) of the motor (21) by means of a spring effect, such as to prevent the movable portion (26) from moving relative to the stationary portion (25); and an actuator (23) capable of moving the brake (22) by opposing the spring effect such as to release the movable portion (26) of the engine (25) from the force of the brake (22) and enabling the motor (21) to move the movable portion (26) relative to the stationary portion (25).
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
A jointed robot capable to move on a surface is provided. It is known to limit to a predefined fixed value the torque that the motors of the joints of the robot can develop. A rigidity coefficient corresponding to the limit torque is calculated by solving a dynamic equilibrium model of the robot. The contact points of the characteristic effectors are determined by a selection from a list of potential effectors, notably as a function of a criterion of distance from a virtual ground plane. The contact forces for said effectors are calculated by optimal resolution of the equilibrium equations. Finally the torques applied in the dynamic equilibrium model of the robot and the coefficients of corresponding rigidity are calculated.
G05B 19/19 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
G05B 13/04 - Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
G05B 19/4062 - Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
The invention relates to a tool (20) intended for raising a vehicle (14) relative to a reference plane (21) on which the vehicle (14) is intended to move. According to the invention, the tool (20) is made up of an integral part having an arm (23) extending essentially according to a main axis (24), intended to be placed between the vehicle (14) and the reference plane (21) and to be operated by an operator substantially in a rotation movement around the main axis (24) of the arm (23). In one section of the arm (23), perpendicular to the main axis (24) and extending along the main axis (24), two overall distances D1 and D2 are defined which are angularly offset relative to one another. The first distance D1 is smaller than the second distance D2, the distance D1 being intended for being smaller than a distance D separating the vehicle (10) from the reference plane (21) and the distance D2 being intended for being greater than the distance D.
The invention relates to a shock-absorbing device for a humanoid robot including: a rigid structure connected to the humanoid robot; an outer shell (21, 23) capable of changing shape; and a shock absorber (22, 24). The shock absorber (22, 24) consists of a flexible cellular structure including a set of cells that extend outward in a main direction (X), are rigidly connected to the rigid structure (20) at a first end in the main direction (X), and are connected to the deformable outer shell (21, 23) at a second end opposite the first end in the main direction (X). Advantageously, the outer shell (21) is also directly connected to the rigid structure by means of at least one silent-block, shock-absorbing attachment. The invention also relates to a humanoid robot, and particularly to the head of a humanoid robot, including such a shock-absorbing device.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
F16F 1/377 - Springs made of material having high internal friction characterised by having a particular shape having holes or openings
49.
ACTUATION OF A HAND TO BE PROVIDED ON A HUMANOID ROBOT
The invention relates to a hand to be provided on a humanoid robot. The hand includes a palm and a plurality of fingers (12, 13, 14). Each finger (12, 13, 14) is movable, relative to the palm, between a rest position, maintained by means of a spring effect, and a compressed position, obtained by driving a connecting part (22, 23, 24) using the palm countering the spring effect. Said hand is characterized in that it includes a motor-driven shaft (20), connected to the connecting part (22, 23, 24) of each finger (12, 13, 14), and configured such as to move at least one first finger (12) and at least one second finger (13), respectively, from the rest position to the compressed position, by rotating the motor-driven shaft (20), in a first rotational direction and in an opposite direction, respectively.
ASSOCIATION POUR LA RECHERCHE ET LE DEVELOPPEMENT DE MÉTHODES ET PROCESSUS INDUSTRIELS - ARMINES (France)
Inventor
Wirbel, Emilie
De La Fortelle, Arnaud
Abstract
The invention concerns a method for localizing a robot in a localization plane associated with a bi-dimentional reference with two axis x and y comprising the following steps: determining (200) by odometry an estimation of the coordinates x1 and y1 of the robot as well as an estimation of its orientation Θ1; determining (202) an estimation Θ2 of the orientation of the robot by using a virtual compass; determining (204) an estimation Θ3 of the orientation of the robot by correlating parts of a reference panorama with parts of a query panorama; determining (206) an estimation x4, y4 of the robot position by using an Iterative Closest Points technique; determining the standard deviations σ_x1, σ_x2, σ_θ1 σ_θ2, σ_θ3, σ_x4, σ_y4 of the aforementioned estimations; determining (220) probability distributions G(x1), G(y1), G(Θ1), G(Θ2), G(Θ3), G(x4) and G(y4) of each available estimation using said standard deviations; determining (221) three global distributions GLOB(x), GLOB(y) and GLOB(Θ) and determining a global estimation xg, yg of the coordinates of the robot in the localization plane as well as an global estimation Θg of its orientation by applying maximum likelihood to the global distributions.
G01C 21/16 - Navigation; Navigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
The invention relates to a humanoid robot which is capable of surveying its environment, notably to determine when humans are present and to engage in Activities with said humans corresponding to an evaluation of the their desires. An operating system of the robot is configured in the robot to process the information received by Extractors (sensors and processing capabilities), to list Activities (gestures, dialogs, etc..) which are prioritized as a function of the current conditions and the history of engagement with the humans, to decide which Activity is to be launched and to have Actuators execute the Activity. Safeguard conditions of the robot are also taken into account in the list of Activities to be performed.
There is disclosed a computer-implemented method of handling an audio dialog between a robot and a human user, the method comprising: during said audio dialog, receiving audio data and converting said audio data into text data; in response to said text data, determining a dialog topic, said dialog topic comprising a dialog content and a dialog voice skin; wherein a dialog content comprises a plurality of sentences; determining a sentence to be rendered in audio by the robot; receiving a modification request of said determined dialog sentence. Described developments for example comprise different regulation schemes (e.g. open-loop or closed-loop), the use of moderation rules (centralized or distributed) and the use of priority levels and/or parameters depending on the environment perceived by the robot.
There is disclosed a computer-implemented method of handling a software application on a robot, said robot executing a plurality of software applications, at least two software applications competing for execution, the method comprising the steps of: monitoring the execution of at least one software application; in response to receiving a modification request, modifying said at least one software application; executing the modified software application on the robot. Described developments for example comprise the use of modification and/or execution rules, the modification of a software application based on the monitoring of one or more software applications, examples of centralized or distributed supervision and examples different possible roles endorsed by the robot manufacturer and application providers.
A method of handling humanoid robot interaction with human is disclosed. The method allows systematically storing all events detected within a humanoid robot environment, and classifying as temporary stimuli. When the robot is set to analyze the events, a process allows selecting one preferred stimulus among the stored stimuli and depending on the current activity of the robot, one or more actions are generated for the robot.
There is disclosed a computer-implemented method of handling an audio dialog between a robot and a human user, the method comprising: during said audio dialog, receiving audio data and converting said audio data into text data; in response to the verification of one or more dialog mode execution rules of said text data, selecting a modified dialog mode; wherein a dialog mode comprises one or more dialog contents and one or more dialog voice skins; wherein a dialog content comprises a collection of predefined sentences, said collection comprising question sentences and answer sentences; and wherein a dialog voice skin comprises voice rendering parameters comprising frequency, tone, velocity and pitch. Described developments comprise modifying dialog contents and/or dialog voice skin, using dialog execution rules (for example depending on the environment perceived by the robot) and moderating dialog contents.
There is disclosed a method of handling a software application on a robot, said robot comprising a plurality of installed software application, a software application being associated with a predefined semantic description, the method comprising the steps of extracting one or more patterns from an audio dialog with a human user; an audio dialog comprising sentences and a pattern comprising predefined sentences; comparing said one or more patterns with the semantic descriptions of said software applications; selecting a software application based on the performed comparisons; and executing the selected software application. Described developments comprise software application execution rules, predefined or dynamically defined execution rules, the audio listing of the installed applications depending on environmental parameters, the optional use of complimentary display means and the installation of a missing application. Associated systems are described.
INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE (France)
Inventor
Lafaye, Jory
Gouaillier, David
Wieber, Pierre-Brice
Abstract
The object of the invention is a humanoid robot (100) with a body (190) joined to an omnidirectional mobile ground base (140), and equipped with: - a body position sensor and a base position sensor to provide measures, - actuators (212) comprising at least 3 wheels (141) located in the omnidirectional mobile base, - extractors (211) for converting the measures into useful data, - a controller to calculate position, velocity and acceleration commands from the useful data using a robot model and pre-ordered position and velocity references, - means for converting the commands into instructions for the actuators, characterized in that the robot model is a double point-mass model, and in that the commands are based on a linear model predictive control law with a discretized time according to a sampling time period and a number of predicted samples, and expressed as a quadratic optimization formulation with: - a weighted sum of objectives, - a set of predefined linear constraints.
INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE (France)
Inventor
Lafaye, Jory
Collette, Cyrille
Wieber, Pierre-Brice
Abstract
The object of the invention is a humanoid robot (100) with a body (190) joined to an omnidirectional mobile ground base (140), equipped with : - a body position sensor, a base position sensor and an angular velocity sensor to provide measures, - actuators (212) comprising at least 3 wheels located in the omnidirectional mobile base, - extractors (211) for converting sensored measures into useful data, - a supervisor (500) to calculate position, velocity and acceleration commands from the useful data, - means for converting commands into instructions for the actuators, characterized in that the supervisor comprises: - a no-tilt state controller (501), a tilt state controller (502) and a landing state controller (503), each controller comprising means for calculating, position, velocity and acceleration commands based on a double point-mass robot model with tilt motion and on a linear model predictive control law, expressed as a quadratic optimization formulation with a weighted sum of objectives, and a set of predefined linear constraints.
A method of performing a dialogue between a humanoid robot (R) and at least one user (U) comprising the following steps, carried out iteratively by said humanoid robot: i) acquiring a plurality of input signals (s1, s2) from respective sensors (c1, c2), at least one said sensor being a sound sensor and at least one other sensor being a motion or image sensor; ii) interpreting the acquired signals to recognize a plurality of events (EVI) generated by said user, selected from a group comprising: the utterance of at least a word or sentence, an intonation of voice, a gesture, a body posture, a facial expression; iii) determining a response of said humanoid robot, comprising at least one event (EVO) selected from a group comprising: the utterance of at least a word or sentence, an intonation of voice, a gesture, a body posture, a facial expression; iv ) generating, by said humanoid robot, said or each said event; characterized in that said step iii) comprises determining said response as a function of at least two events jointly generated by said user and recognized at said step ii), of which at least one is not a word or sentence uttered by said user. A computer program product and a humanoid robot for carrying out such a method.
A computer program and a system for controlling walking of a mobile robot, notably a humanoid robot moving on two legs. Conventionally, control was guided by driving a zero moment point. Such driving was performed within a fixed coordinate system connected to a progression surface and assumed knowledge of the characteristics of said surface and the creation of a provisional trajectory. Such driving encountered significant limitations due to the nature of the progression surfaces on which walking can effectively be controlled and an obligation to have a perfect knowledge of their geometry; and also in respect to the necessary computing power, and the appearance of the walk which bore little resemblance to an actual human walk. The invention overcomes such limitations by providing a walk which includes a pseudo-free or ballistic phase, an impulse phase imparted by the heel of the robot, and a landing phase.
B62D 57/02 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
61.
Spherical wheel, and vehicle implementing the wheel
A spherical wheel intended to move a vehicle and a vehicle implementing the wheel are provided, the wheel having its rotation motorized by a shaft able to rotate about an axis. The wheel (10) comprises two shells of which the surface follows the spherical surface of the wheel and each of which is bounded by a plane. The shells are each articulated by means of a pivot connection with respect to the shaft, an axis of each of the pivot connections being perpendicular to the plane of the relevant shell. The planes bounding the two shells are secant.
B62D 61/06 - Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with only three wheels
1) having a tubular structure with at least three faces, each of said faces comprising: two parallel longitudinal fibers (1, 4), rigid and inextensible, whose ends are connected through respective ball or elastic joints (0-1; 4-0) to the ends of the fibers of contiguous modules, or to a base (0); a transverse link (2) connecting said two longitudinal fibers, having a first end rigidly connected to said first fiber and a second end slidably connected to said second fiber, said transverse link being inextensible and having two rotational degrees of freedom; a longitudinal link (32) connecting said transverse link to a homologous transverse link of an adjacent module or to a base via a ball or elastic joint (32-0) and an universal joint (3-32); and an actuator (A) for changing the length of said longitudinal link.
A system for surveillance of a pool containing a liquid such as water-comprises at least one first element comprising at least one submersible robot provided with standalone propulsion capabilities for propelling the robot in the pool, onboard of which robot is installed at least one sensor capable of producing at least one measurement of a quantity representative of at least one disturbance of the pool relative to a reference state, the first element being furthermore provided with communication capabilities for communicating, in the submerged position, with at least one second element, the system being configured to process, in processing means, the output of the at least one sensor and to trigger at least one action.
The invention relates to a humanoid robot endowed with particular capabilities for managing falls. The risks of falling limit the development of the mass-market use of humanoid robots. In the prior art, the modalities for detecting falls are not well suited to the case of very dynamic robots since the center of mass is very often outside their support polygons. The modalities for managing falls are also poorly suited to robots which must be economical in their computation resources. According to the invention, the conventional support polygon is supplemented with effectors for which it is determined that they are sufficiently close to the ground. Protection strategies are implemented, chosen from a set of strategies defined by a classification of the angles of fall.
G05D 1/02 - Control of position or course in two dimensions
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
A computer program and a system for controlling walking of a mobile robot, notably a humanoid robot moving on two legs. Conventionally, control was guided by driving a zero moment point. Such driving was performed within a fixed coordinate system connected to a progression surface and assumed knowledge of the characteristics of said surface and the creation of a provisional trajectory. Such driving encountered significant limitations due to the nature of the progression surfaces on which walking can effectively be controlled and an obligation to have a perfect knowledge of their geometry; and also in respect to the necessary computing power, and the appearance of the walk which bore little resemblance to an actual human walk. The invention overcomes such limitations by providing a walk which includes a pseudo-free or ballistic phase, an impulse phase imparted by the heel of the robot, and a landing phase.
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
