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.
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
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.
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.
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
12.
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
20.
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
21.
Robot with joints of variable rigidity and method for calculating said optimized rigidity
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
22.
Method for controlling the walking motion of a mobile robot, and robot implementing said 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
23.
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
patents
