Softbank Robotics Europe

Institut National De Recherche En Informatique Et En Automatique

Aldebaran Robotics

Inria Institut National De Recherche En Informatique Et En Automatique

Cyrille Collette

Sébastien Dalibard

Sebastien Dalibard

Bruno Maisonnier

Jérôme Monceaux

Nicolas Garcia

David Gouaillier

Pierre-Brice Wieber

Jory Lafaye

Lucas Souchet

Alexandre Mazel

Aldenis Garcia

A computer-implemented method of executing a standby mode for a robot, comprises 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 the 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.

Standby mode of a humanoid robot

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.

Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller

A humanoid robot which can move on its lower limb to execute a trajectory and is capable of detecting intrusion of obstacles in a safety zone defined around its body as a function of its speed is provided. 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.

Humanoid robot with collision avoidance and trajectory recovery capabilities

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.

Robot with joints of variable rigidity and method for calculating said optimized rigidity

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Le Plessis Robinson, France

Cyrille Collette