Commissariat a L'energie Atomique

Inria

Bernard Espiau

Dominique David

Rodolphe Heliot

Guy Andre

Roger Pissard-Gibollet

The process comprises acquisition of experimental data from measurements of physical quantities by means of at least one sensor associated to the object. The process comprises a first reliable estimation of a first range of values with a first method. The process comprises at least one additional estimation of an additional range of values with a different method. The methods each present a predetermined reliability. The ranges of values are successively observed in order of decreasing reliability of the corresponding methods. Each additional range of values is compared with the range of values corresponding to the previous method according to said order. The additional range is chosen as result when the additional range is comprised in the range corresponding to one of the previous methods.

Process for estimating the motion phase of an object

The object of the present invention is to greatly simplify the final control of a sensitive, active robot moving in a passive environment. It consists of equipping the robot with a plurality of directional proximetric transducers C.sub.i, to which are allocated, for a given operating mode, virtual elementary actions making it possible to determine a control vector of the different actuators (4.1-4.2) responsible for the robot movements. The virtual elementary action allocated to each sensor is weighted by a virtual mass or coefficient m.sub.i. The center of gravity of the virtual masses m.sub.i preferably coincides with the control frame of the robot. The invention is more particularly usable in robotized remote manipulation.

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Laille, France

Bernard Espiau