Softbank Robotics Europe

Institut National De Recherche En Informatique Et En Automatique

Commissariat a L'energie Atomique

Staubli Faverges

Inria Institut National De Recherche En Informatique Et En Automatique

Commissariat a L'energie Atomique Et Aux Energies Alternatives

Aldebaran Robotics

Inria

Pierre-Brice Wieber

Bruno Flament

Luc Joly

Jory Lafaye

David Gouaillier

Cyrille Collette

Matthieu Guilbert

Fabien Jammes

Lüc Joly

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.

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

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.

A method of obtaining simulated parameters (,,,) able to characterize the movement of an articulated structure provided with sensors, characterized in that the method comprises the following steps: calculating, from estimated movement state parameters of the structure, estimated measurement data (,), each estimated measurement data item corresponding to a measurement delivered by a sensor, difference between the measurements delivered by the sensors and the estimated measurement data that correspond to them, global mathematical processing of the observer type of the data issuing from the difference in order to obtain at least one estimated difference for an estimated movement state parameter, and adding the estimated difference for the estimated movement state parameter and the estimated movement state parameter that corresponds to it in order to form a simulated parameter.

Processing method for capturing movement of an articulated structure

A method of adjusting operating parameters of a robot to move an effector tool along a given path in an optimum cycle time including a step of modifying operating parameter values to cause the cycle time to approach a optimal value wherein the parameters are modified so as to approach an extremum of a compromise function including at least first and second terms, the first term being a function of a cycle time and the second term being a function of at least one of temperature and degree of wear of an actuator.

Method and a device for adjusting operating parameters of a robot, a program and a recording medium for the method

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Grenoble, France

Pierre-Brice Wieber