Patents by Inventor Sébastien DALIBARD
Sébastien DALIBARD has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11014247Abstract: 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.Type: GrantFiled: April 29, 2016Date of Patent: May 25, 2021Assignee: SOFTBANK ROBOTICS EUROPEInventors: Sébastien Dalibard, Justine Lanca, Jory Lafaye
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Patent number: 10576632Abstract: 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.Type: GrantFiled: June 5, 2015Date of Patent: March 3, 2020Assignee: SOFTBANK ROBOTICS EUROPEInventors: Sébastien Dalibard, Alexandre Mazel, Cyrille Collette, Bruno Maisonnier, Jérôme Monceaux
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Patent number: 10369697Abstract: 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.Type: GrantFiled: June 5, 2015Date of Patent: August 6, 2019Assignee: SOFTBANK ROBOTICS EUROPEInventors: Sébastien Dalibard, David Gouaillier
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Publication number: 20190118384Abstract: 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.Type: ApplicationFiled: April 29, 2016Publication date: April 25, 2019Inventors: Sébastien DALIBARD, Justine LANCA, Jory LAFAYE
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Patent number: 10179406Abstract: 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.Type: GrantFiled: June 5, 2015Date of Patent: January 15, 2019Assignee: SOFTBANK ROBOTICS EUROPEInventors: Sébastien Dalibard, Aldenis Garcia, Cyrille Collette, Nicolas Garcia, Lucas Souchet
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Publication number: 20170173791Abstract: 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.Type: ApplicationFiled: June 5, 2015Publication date: June 22, 2017Inventors: Sébastien DALIBARD, David GOUAILLIER
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Publication number: 20170080565Abstract: 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.Type: ApplicationFiled: June 5, 2015Publication date: March 23, 2017Inventors: Sébastien DALIBARD, Aldenis GARCIA, Cyrille COLLETTE, Nicolas GARCIA, Lucas SOUCHET
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Publication number: 20170080564Abstract: 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.Type: ApplicationFiled: June 5, 2015Publication date: March 23, 2017Applicant: SOFTBANK ROBOTICS EUROPEInventors: Sébastien DALIBARD, Alexandre MAZEL, Cyrille COLLETTE, Bruno MAISONNIER, Jérôme MONCEAUX