Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: The present invention applies to a mobile robot which can have a human appearance and sophisticated functions enabling it to execute missions. To enable communications internal to the robot to be optimized and allow for a versatility that is both physical (possible substitution of parts of the robot) and software (replacement of programs to adapt it to new missions), an architecture with three computer levels is provided. The highest level comprises the intelligence of the robot which generates commands which are transmitted by an intermediate computer to low-level cards which control the sensors and actuators. Communication between the intermediate computer and the low-level cards is managed by at least one specific secure communication protocol.

Abstract: 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.

Abstract: 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.

Abstract: A control device for a mobile robot, the robot comprising a camera and a communication unit, comprises a display unit displaying an image corresponding to the image taken by the camera and transmitted by the communication unit, and a user interface, wherein the user interface is configured to allow a user to control a position of a pointer on the image displayed by the display unit, and the user interface comprises a selection unit allowing the user to select a position of the pointer on the image displayed by the display unit, the control device further comprising a computation unit and a communication system, the computation unit being configured to compute displacement commands and send them through the communication system to the robot, said displacement commands being computed to make the robot move to a physical position corresponding to the pointer's position selected by the user on the image.

Abstract: A mechanism includes at least one module (M1) 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.

Abstract: A system and a method for editing and controlling actions of a mobile robot allowing for the creation and modification of behaviors and of motions both according to an event logic and according to a time logic, the latter controlling the event logic and thus allowing for the synchronization of the behaviors and motions of different robot subassemblies. The system is organized in behavior and motion layers including action sequences and a timeline. The actions can be programmed in boxes interconnected by signals which convey information. The boxes are organized in a hierarchical structure, the lowest level of which comprises a script that can be interpreted by a virtual robot which simulates the execution of the commands and, where appropriate, by a physical robot. The motions of the robot can also be controlled graphically by motion screens.

Abstract: The present invention applies to a mobile robot which can have a human appearance and sophisticated functions enabling it to execute missions. To enable communications internal to the robot to be optimized and allow for a versatility that is both physical (possible substitution of parts of the robot) and software (replacement of programs to adapt it to new missions), an architecture with three computer levels is provided. The highest level comprises the intelligence of the robot which generates commands which are transmitted by an intermediate computer to low-level cards which control the sensors and actuators. Communication between the intermediate computer and the low-level cards is managed by at least one specific secure communication protocol.

Abstract: A system and a method for generating behaviors of a robot capable of reproducing a script, notably according to the meaning of the script and, possibly, reactions of the environment of the robot. For this, the system is provided with a library of command tags and a module for inserting said tags into the editor of the script to be reproduced by the robot or robots. The system and method enable a user who does not have particular programming knowledge to produce complex scenarios for use of his or her robot. These scenarios can also be swapped between different users.

Abstract: 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.

Abstract: A system and a method are provided allowing a user who is not a computer specialist to generate contextual behaviors for a robot that are able to be executed in real time. To this end, a module is provided for editing vignettes into which it is possible to insert graphical representations of behaviors to be executed by the robot while the latter recites texts inserted into bubbles at the same time as expressing emotions. A banner generally having a musical score ensures that the progress of the scenario is synchronized. A module for interpreting the vignette that is installed on the robot allows the identification, compilation, preloading and synchronization of the behaviors, the texts and the music.

Abstract: A motorized joint having two degrees of freedom in rotation connecting two elements is provided. The joint includes two pivot connections such that a first one of the pivot connections establishes a first pivot axis, and a second one of the pivot connections establishes a second pivot axis. The first pivot axis is not parallel to the second pivot axis. A first motor is disposed in fixed relation to a first one of the two elements and has a drive shaft aligned with a first drive axis so as to cause by means of a first speed reducer with parallel axes the two elements to rotate about the first pivot axis.

Abstract: 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.

Abstract: A humanoid robot equipped with an interface for natural dialog with an interlocutor is provided. Previously, the modalities of dialog between humanoid robots equipped moreover with evolved displacement functionalities and human beings are limited notably by the capabilities for voice and visual recognition processing that can be embedded onboard said robots. The present disclosure provides robots are presently equipped with capabilities to resolve doubt on a several modalities of communication of the messages that they receive and for combining these various modalities which make it possible to greatly improve the quality and the natural character of dialogs with the robots' interlocutors. This affords simple and user-friendly means for carrying out the programming of the functions making it possible to ensure the fluidity of these multimodal dialogs.

Abstract: An electric motor and a printed circuit to ensure the electrical connection of the motor are provided. The printed circuit comprises: a central part to cover a first face of the electric motor; flexible tongues extending from the central part and to partly cover a second face of the motor and to be electrically connected with this second face; a first pair of studs to receive connections from the motor; a second pair of studs to receive power supply wires from the motor; tracks each connecting a stud of the first pair with a stud of the second pair; a filtering capacitor connected between the tracks; a ground plane covering most of the central part and the flexible tongues, the ground plane being electrically connected to a metal part forming the second face of the motor.

Abstract: A humanoid robot is provided with a manager for its physical and virtual resources, a method of use and a method for programming said manager. Said resources (140, 1410, 1420) are requested so as to execute behaviors. The resources and the behaviors are organized into hierarchical subsets, optionally defined in object trees. Conflicts of use of the resources by the behaviors are resolved locally, the behavior reserving resources being able to be programmed so as to offer options to the user of locking the resources by the reserving behavior, of release in favor of the first other requesting behavior, of partial execution of the behavior in progress or of pausing. A software toolkit makes it possible to program the Resource manager of the invention in a graphical manner in the development environment which allows the programming of the behaviors.

Abstract: 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.