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.
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.
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).
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
16.
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
17.
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
18.
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
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
27.
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.
patents
