Abstract: A hand intended to equip a humanoid robot, the hand includes a palm and at least one finger extending along a first axis, the hand being capable of picking up an object, the finger comprising a first phalanx linked to the palm by a first motorized pivot link and a second phalanx consecutive to the first phalanx linked to the first phalanx by a second pivot link. The finger comprises a first mechanism linking the palm to the second phalanx configured such that the rotation of the first phalanx about the second axis causes the second phalanx to rotate about the third axis, and a second mechanism linking the palm to each of the phalanges configured to actuate the finger in such a way that the finger wraps around the object to be picked up, and the second mechanism is configured to deform the first mechanism.

Abstract: A mobile device that is able to locate itself in a topological map using a combination of visual and radio information is provided. The mobile device captures an image of its environment, detects receivable radio transmitters and builds an observation vector that defines visual words and radio words that are present at the current location of the mobile device. 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 among reference locations.

Abstract: A mobile robot is provided 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 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.

Abstract: A humanoid robot which is capable of surveying its environment, notably to determine when humans are present and to engage in Activities with humans corresponding to an evaluation of their desires is provided. 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.

Abstract: 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.

Abstract: An obstacle detection device to be fitted to a mobile vehicle able to move parallel to a reference plane comprises: at least two emitters of electromagnetic beams which are able to form two virtual planes in two different directions that are able to intersect one another and intersect a potential obstacle, at least one image sensor able to produce an image of the intersection of the virtual planes and of the potential obstacle, an image analysis means able to determine the presence of an obstacle, configured to compare the image with a reference image. A detection method employing such a device is also provided.

Abstract: A hand intended for a humanoid robot comprises a palm and at least one finger articulated to the palm, the finger comprising at least one phalanx and an articulation linking the phalanx to the palm, the phalanx extending in a main direction. According to the invention, the articulation comprises an elastic joining piece allowing several degrees of freedom. The hand comprises motorization means for a degree of freedom in rotation out of the degrees of freedom made possible by the joining piece, the motorized degree of freedom in rotation allowing a relative movement about an axis at right angles to the main direction of the phalanx. The other degrees of freedom out of the degrees of freedom made possible by the joining piece are not motorized.

Abstract: A secured motorized articulation mounted between a first and a second limb of a humanoid-type robot, comprises: a motor comprising a fixed part linked to the first limb, and a mobile part that can be moved relative to the fixed part and linked to the second limb relative to the first limb, a brake capable of exerting a force on the mobile part of the motor by spring effect, to prevent the movement of the mobile part relative to the fixed part, an actuator capable of displacing the brake by opposing the spring effect, so as to release the mobile part of the motor from the force of the brake and allow the motor to move the mobile part relative to the fixed part.

Abstract: A computer-implemented method of determining a collision between an object and a robot, comprises monitoring one or more articular parts of the robot by measuring the parameters associated with the real displacements of the one or more articular parts; comparing the 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 the 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.

Abstract: A method of handling a software application on a robot comprising a plurality of installed software application, a software application being associated with a predefined semantic description, the method comprises 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 one or more patterns with the semantic descriptions of the 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.

Abstract: An equipment item comprising a key and a humanoid-type robot comprising several mechanisms that can be actuated from outside the robot, wherein each of the mechanisms comprises a connection interface into which the key can be inserted, the connection interface of each of the mechanisms being configured such that the insertion of the key actuates the mechanism. The key comprises two slender fingers inserted simultaneously into two longitudinal orifices.

Abstract: A computer-implemented method of handling an audio dialog between a robot and a human user comprises: during the audio dialog, receiving audio data and converting audio data into text data; in response to text data, determining a dialog topic, the 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 the 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.

Abstract: A method to compute a pixel map of probabilities of absence and presence of an obstacle in the environment of an autonomous robot comprising 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 is provided. 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.

Abstract: 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.

Abstract: A method of performing dialog between a humanoid robot and user comprises: i) acquiring input signals from respective sensors, at least one being a sound sensor and another being a motion or image sensor; ii) interpreting the signals to recognize events generated by the user, including: the utterance of a word or sentence, an intonation of voice, a gesture, a body posture, a facial expression; iii) determining a response of the humanoid robot, comprising an event such as: the utterance of a word or sentence, an intonation of voice, a gesture, a body posture, a facial expression; iv) generating, an event by the humanoid robot; wherein step iii) comprises determining the response from events jointly generated by the user and recognized at step ii), of which at least one is not words uttered by the user. A computer program product and humanoid robot for carrying out the method is provided.

Abstract: 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.

Abstract: A method for locating a sound source by maximizing a directed response strength calculated for a plurality of vectors of the interauricular time differences forming a set comprises: a first subset of vectors compatible with sound signals from a single sound source at an unlimited distance from the microphones; and a second subset of vectors not compatible with sound signals from a signal sound source at an unlimited distance from the microphones. Each vector of the first subset is associated with a direction for locating the corresponding single sound source, and each vector of the second subset is associated with the locating direction of a vector of the first subset closest thereto according to a predefined metric. A humanoid robot including: a set of at least three microphones, arranged on a surface higher than the head of thereof; and a processor for implementing one such method is provided.

Abstract: A method for localizing a robot in a localization plane with a bi-dimentional reference with axis x and y comprises: determining by odometry an estimation of coordinates x1 and y1 and orientation ?1 of the robot; determining an estimation ?2 of the orientation of the robot using a virtual compass; determining an estimation ?3 of the orientation of the robot by correlating parts of a reference and a query panorama; determining an estimation x4, y4 of the robot position using Iterative Closest Points; determining standard deviations ?_x1, ?_x2, ?_?1 ?_?2, ?_?3, ?_x4, ?_y4 of the estimations; determining probability distributions G(x1), G(y1), G(?1), G(?2), G(?3), G(x4), G(y4) of each estimation using standard deviations; determining three global distributions GLOB(x), GLOB(y), GLOB(?) and a global estimation xg, yg of the coordinates of the robot in the localization plane and a global estimation ?g of its orientation by applying maximum likelihood to global distributions.