Patent SG-11201808977R-A (SG)
Title: A mobile robot with enhanced balanced motion and behavior capabilities
Inventor: DALIBARD SÉBASTIEN
IPC: B25J11/00
Filed: 2016-04-29
Abstract: 110 4111 0 bi) Articulations 630b`•-• Calculate Predicted trajectory of the CoM oM 631b 640b Calculate predicted movements of articulations 641b Articulations FIG.6b (12) INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) (19) World Intellectual Property Organization International Bureau (43) International Publication Date 02 November 2017 (02.11.2017) WIP0 I PCT omit VIII Hot 01°11E0mm Dl oimIE (10) International Publication Number WO 2017/187235 Al 610 620b Calculate Target trajectory of the CoM (51) International Patent Classification: B25J 9/16 (2006.01) B25J 11/00 (2006.01) (21) International Application Number: PCT/IB2016/052452 (22) International Filing Date: 29 April 2016 (29.04.2016) (25) Filing Language: English (26) Publication Language: English (71) Applicant: SOFTBANK ROBOTICS EUROPE [FR/ ]; 43 rue du Colonel Pierre Avia, 75015 Paris (FR). (72) Inventors: DALIBARD, Sebastien; c/o Aldebaran Robot- ics, 43 rue du Colonel Pierre Avia, 75015 Paris (FR). LAN- CA, Justine; c/o Aldebaran Robotics, 43 rue du Colonel Pierre Avia, 75015 Paris (FR). LAFAYE, Jory; c/o Alde- baran Robotics, 43 me du Colonel Pierre Avia, 75015 Paris (FR). (74) Agent: NGUYEN-VAN-YEN, Christian; Immeuble \"Vi- sium\", 22 avenue Aristide Briand, 94117 Arcueil Cedex (FR). (81) Designated States (unless otherwise indicated, for every kind of national protection available): AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KN, KP, KR, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. (84) Designated States (unless otherwise indicated, for every kind of regional protection available): ARIPO (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG). Published: — with international search report (Art. 21(3)) (54) Title: A MOBILE ROBOT WITH ENHANCED BALANCED MOTION AND BEHAVIOR CAPABILITIES (57) : The invention relates to a mobile robot which is able to follow a trajectory and 611 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 (350)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 621 b defining a behavior of the mobile robot, predicted movements of articulated limbs. oM W O 20 17 / 187 235 Al 600b