[go: up one dir, main page]

FR2929873B1 - Architecture de controle-commande d'un robot mobile utilisant des membres articules - Google Patents

Architecture de controle-commande d'un robot mobile utilisant des membres articules

Info

Publication number
FR2929873B1
FR2929873B1 FR0801956A FR0801956A FR2929873B1 FR 2929873 B1 FR2929873 B1 FR 2929873B1 FR 0801956 A FR0801956 A FR 0801956A FR 0801956 A FR0801956 A FR 0801956A FR 2929873 B1 FR2929873 B1 FR 2929873B1
Authority
FR
France
Prior art keywords
control
mobile robot
articulated members
architecture
control architecture
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR0801956A
Other languages
English (en)
Other versions
FR2929873A1 (fr
Inventor
Julien Serre
Brice Marnier
Jerome Matard
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aldebaran SAS
Original Assignee
Aldebaran Robotics SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to FR0801956A priority Critical patent/FR2929873B1/fr
Application filed by Aldebaran Robotics SA filed Critical Aldebaran Robotics SA
Priority to US12/736,456 priority patent/US9327400B2/en
Priority to EP09731189A priority patent/EP2262623A1/fr
Priority to PCT/EP2009/054177 priority patent/WO2009124951A1/fr
Priority to CN200980119536.2A priority patent/CN102046337B/zh
Priority to JP2011503428A priority patent/JP5849345B2/ja
Publication of FR2929873A1 publication Critical patent/FR2929873A1/fr
Application granted granted Critical
Publication of FR2929873B1 publication Critical patent/FR2929873B1/fr
Priority to US15/082,700 priority patent/US10022862B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4141—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by a controller or microprocessor per axis
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4148—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using several processors for different functions, distributed (real-time) systems
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/004—Artificial life, i.e. computing arrangements simulating life
    • G06N3/008—Artificial life, i.e. computing arrangements simulating life based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33212—Processor for communication with, evaluation of signals form detector to pc
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40304—Modular structure
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
    • G06F11/08—Error detection or correction by redundancy in data representation, e.g. by using checking codes
    • G06F11/10—Adding special bits or symbols to the coded information, e.g. parity check, casting out 9's or 11's
    • G06F11/1004—Adding special bits or symbols to the coded information, e.g. parity check, casting out 9's or 11's to protect a block of data words, e.g. CRC or checksum

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Artificial Intelligence (AREA)
  • Theoretical Computer Science (AREA)
  • Software Systems (AREA)
  • Evolutionary Computation (AREA)
  • Mathematical Physics (AREA)
  • Manufacturing & Machinery (AREA)
  • Human Computer Interaction (AREA)
  • Biomedical Technology (AREA)
  • Biophysics (AREA)
  • General Engineering & Computer Science (AREA)
  • Molecular Biology (AREA)
  • General Health & Medical Sciences (AREA)
  • Data Mining & Analysis (AREA)
  • Computational Linguistics (AREA)
  • Computing Systems (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Fuzzy Systems (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Computer Hardware Design (AREA)
  • Manipulator (AREA)
FR0801956A 2008-04-09 2008-04-09 Architecture de controle-commande d'un robot mobile utilisant des membres articules Active FR2929873B1 (fr)

Priority Applications (7)

Application Number Priority Date Filing Date Title
FR0801956A FR2929873B1 (fr) 2008-04-09 2008-04-09 Architecture de controle-commande d'un robot mobile utilisant des membres articules
EP09731189A EP2262623A1 (fr) 2008-04-09 2009-04-08 Architecture de controle - commande d'un robot mobile utilisant des membres articules
PCT/EP2009/054177 WO2009124951A1 (fr) 2008-04-09 2009-04-08 Architecture de controle - commande d'un robot mobile utilisant des membres articules
CN200980119536.2A CN102046337B (zh) 2008-04-09 2009-04-08 使用关节型四肢的移动机器人的控制指令结构
US12/736,456 US9327400B2 (en) 2008-04-09 2009-04-08 Control-command architecture for a mobile robot using articulated limbs
JP2011503428A JP5849345B2 (ja) 2008-04-09 2009-04-08 関節肢を使用する移動ロボットの制御コマンドアーキテクチャ
US15/082,700 US10022862B2 (en) 2008-04-09 2016-03-28 Control-command architecture for a mobile robot using articulated limbs

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR0801956A FR2929873B1 (fr) 2008-04-09 2008-04-09 Architecture de controle-commande d'un robot mobile utilisant des membres articules

Publications (2)

Publication Number Publication Date
FR2929873A1 FR2929873A1 (fr) 2009-10-16
FR2929873B1 true FR2929873B1 (fr) 2010-09-03

Family

ID=40219258

Family Applications (1)

Application Number Title Priority Date Filing Date
FR0801956A Active FR2929873B1 (fr) 2008-04-09 2008-04-09 Architecture de controle-commande d'un robot mobile utilisant des membres articules

Country Status (6)

Country Link
US (2) US9327400B2 (fr)
EP (1) EP2262623A1 (fr)
JP (1) JP5849345B2 (fr)
CN (1) CN102046337B (fr)
FR (1) FR2929873B1 (fr)
WO (1) WO2009124951A1 (fr)

Families Citing this family (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2474318A (en) * 2010-05-11 2011-04-13 Jideofor Harry Nduka Humanoid robot with interchangeable legs for different terrain
FR2962048A1 (fr) 2010-07-02 2012-01-06 Aldebaran Robotics S A Robot humanoide joueur, methode et systeme d'utilisation dudit robot
FR2963132A1 (fr) 2010-07-23 2012-01-27 Aldebaran Robotics Robot humanoide dote d'une interface de dialogue naturel, methode d'utilisation et de programmation de ladite interface
FR2964055B1 (fr) 2010-08-27 2012-08-17 Aldebaran Robotics S A Robot humanoide dote de capacites de gestion de chutes et methode de gestion desdites chutes
FR2969026B1 (fr) 2010-12-17 2013-02-01 Aldebaran Robotics Robot humanoide dote d'un gestionnaire de ses ressources physiques et virtuelles, procedes d'utilisation et de programmation
KR101809973B1 (ko) * 2011-01-24 2017-12-19 삼성전자주식회사 로봇 제어 시스템 및 로봇 제어 방법
US20130085602A1 (en) * 2011-10-04 2013-04-04 Hei Tao Fung Office Robot System
FR2989209B1 (fr) 2012-04-04 2015-01-23 Aldebaran Robotics Robot apte a integrer des dialogues naturels avec un utilisateur dans ses comportements, procedes de programmation et d'utilisation dudit robot
FR2991222B1 (fr) * 2012-06-01 2015-02-27 Aldebaran Robotics Systeme et procede pour generer des comportements contextuels d'un robot mobile executes en temps reel
TWI492343B (zh) * 2012-11-02 2015-07-11 矽品精密工業股份有限公司 半導體基板及其製法
US10418298B2 (en) * 2013-09-24 2019-09-17 STATS ChipPAC Pte. Ltd. Semiconductor device and method of forming dual fan-out semiconductor package
EP2952300A1 (fr) * 2014-06-05 2015-12-09 Aldebaran Robotics Détection de collision
CN106043488A (zh) * 2015-04-21 2016-10-26 电子科技大学 一种家庭服务机器人
CN105119985B (zh) * 2015-08-10 2019-05-03 唐思钊 一种多工位智能机器人及其控制方法
JP1545285S (fr) * 2015-08-17 2016-03-07
JP1556885S (fr) 2015-09-17 2016-08-22
US11072067B2 (en) * 2015-11-16 2021-07-27 Kindred Systems Inc. Systems, devices, and methods for distributed artificial neural network computation
USD795321S1 (en) * 2015-12-07 2017-08-22 UBTECH Robotics Corp. Entertainment robot
USD795320S1 (en) * 2015-12-07 2017-08-22 UBTECH Robotics Corp. Entertainment robot
EP3216569A1 (fr) * 2016-03-07 2017-09-13 Aldebaran Robotics Fabrication modulaire d'un robot
US10192399B2 (en) * 2016-05-13 2019-01-29 Universal Entertainment Corporation Operation device and dealer-alternate device
CN105905187A (zh) * 2016-06-22 2016-08-31 北京科技大学 仿生正六边形六足机器人
CN106406328B (zh) * 2016-11-05 2020-04-03 杭州畅动智能科技有限公司 一种基于机器人开发平台的运动控制方法
CN107685788B (zh) * 2017-09-06 2023-10-27 滨州学院 一种足球机器人
FR3081578B1 (fr) 2018-05-25 2022-08-12 Hoomano Dispositif et methode de mesure d’une caracteristique d’une interaction entre un utilisateur et un dispositif d’interaction
CN110253567B (zh) * 2019-05-22 2021-07-20 深圳镁伽科技有限公司 用于控制机器人运动的运动控制系统、方法及机器人
TWI739604B (zh) 2020-09-18 2021-09-11 英業達股份有限公司 訓練機器動物的運動控制器的方法
JP7553825B2 (ja) * 2021-09-10 2024-09-19 株式会社デンソーウェーブ ロボット制御システム
US20240280967A1 (en) * 2023-02-17 2024-08-22 Sanctuary Cognitive Systems Corporation Systems, methods, and computer program products for hierarchical multi-agent goal-seeking

Family Cites Families (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4734866A (en) 1984-07-05 1988-03-29 Siemens Aktiengesellschaft Computer controller for an industrial multiaxis robot
KR100191336B1 (ko) * 1990-01-22 1999-06-15 렌나르트손켄트 분산제어 체계용 배열
JPH0538689A (ja) * 1991-07-29 1993-02-19 Toshiba Corp 多関節ロボツトの分散制御システム
US5917840A (en) * 1992-03-13 1999-06-29 Foxboro Company Protection against communications crosstalk in a factory process control system
JP2711349B2 (ja) 1992-08-04 1998-02-10 川崎重工業株式会社 産業用ロボットの制御方法およびそれに用いる制御装置
US5285381A (en) * 1992-09-09 1994-02-08 Vanderbilt University Multiple control-point control system and method of use
JPH06284164A (ja) 1993-03-25 1994-10-07 Mitsubishi Electric Corp 通信制御コード回避通信方法
JPH07307742A (ja) 1994-05-16 1995-11-21 Kokusai Electric Co Ltd データ伝送方法
JPH07336366A (ja) * 1994-06-09 1995-12-22 Canon Inc 無線ｌａｎシステム
IL120889A (en) 1997-05-22 1998-10-30 Eshed Robotec 1982 Ltd Method and facility for direct learning of vending machines
JP3926898B2 (ja) 1997-10-16 2007-06-06 株式会社バッファロー 集線装置、集線装置のエラー通知方法および集線装置のためのエラー通知プログラムを記録したコンピュータ読み取り可能な記録媒体
JP2000099127A (ja) 1998-09-17 2000-04-07 Nippon Telegr & Teleph Corp <Ntt> ロボットシステム用一斉同報装置および方法とそのプログラムを記録した記録媒体
JP2001150375A (ja) 1999-11-25 2001-06-05 Sony Corp 脚式移動ロボットの制御システム
US6377013B2 (en) * 1999-12-24 2002-04-23 Honda Giken Kogyo Kabushiki Kaisha Control apparatus for legged mobile robot
JP2002113675A (ja) 2000-10-11 2002-04-16 Sony Corp ロボット制御システム並びにロボット制御用ソフトウェアの導入方法
JP2002307340A (ja) 2001-04-19 2002-10-23 Sony Corp 脚式移動ロボット及びその制御方法
EP2305436B1 (fr) * 2002-03-18 2015-10-28 Sony Corporation Dispositif de robot, contrôle des mouvements de robot
JP2003334783A (ja) 2002-05-13 2003-11-25 Canon Inc ロボットの情報制御方法
JP2004078895A (ja) 2002-06-17 2004-03-11 Sanyo Electric Co Ltd 分散制御システムおよび分散制御方法
CN1476963A (zh) * 2002-06-17 2004-02-25 ������������ʽ���� 分布式控制系统和分布式控制方法
JP2004038855A (ja) 2002-07-08 2004-02-05 Olympus Corp 軸操作装置、軸操作方法、及び軸操作プログラム
US7283549B2 (en) * 2002-07-17 2007-10-16 D-Link Corporation Method for increasing the transmit and receive efficiency of an embedded ethernet controller
US6999851B2 (en) * 2002-08-30 2006-02-14 Sony Corporation Robot apparatus and motion controlling method therefor
JP2004167666A (ja) 2002-08-30 2004-06-17 Sony Corp ロボット装置及びその動作制御方法
US7348746B2 (en) * 2003-02-14 2008-03-25 Honda Giken Kogyo Kabushiki Kaisha Abnormality detection system of mobile robot
US7038421B2 (en) * 2003-06-17 2006-05-02 International Business Machines Corporation Method and system for multiple servo motor control
US20060184280A1 (en) * 2005-02-16 2006-08-17 Magnus Oddsson System and method of synchronizing mechatronic devices
JP4636016B2 (ja) * 2004-03-17 2011-02-23 ソニー株式会社 平面検出装置、平面検出方法、及び平面検出装置を搭載したロボット装置
JP4280999B2 (ja) 2004-07-02 2009-06-17 独立行政法人産業技術総合研究所 ロボットシステム
JP4531520B2 (ja) * 2004-10-15 2010-08-25 本田技研工業株式会社 脚式移動ロボットの制御装置
US7904182B2 (en) * 2005-06-08 2011-03-08 Brooks Automation, Inc. Scalable motion control system
JP2007038326A (ja) 2005-08-01 2007-02-15 Toyota Motor Corp ロボット制御システム
DE102006054124B4 (de) * 2006-11-15 2009-05-28 Phoenix Contact Gmbh & Co. Kg Verfahren und System zur sicheren Datenübertragung

Also Published As

Publication number Publication date
JP5849345B2 (ja) 2016-01-27
CN102046337B (zh) 2015-01-21
FR2929873A1 (fr) 2009-10-16
JP2011516287A (ja) 2011-05-26
US20110029128A1 (en) 2011-02-03
US10022862B2 (en) 2018-07-17
US20160311109A1 (en) 2016-10-27
EP2262623A1 (fr) 2010-12-22
WO2009124951A1 (fr) 2009-10-15
CN102046337A (zh) 2011-05-04
US9327400B2 (en) 2016-05-03

Similar Documents

Publication Publication Date Title
FR2929873B1 (fr) Architecture de controle-commande d&#39;un robot mobile utilisant des membres articules
EP2220542A4 (fr) Robot mobile modulaire
EP1985416A4 (fr) Robot mobile
EP2332698A4 (fr) Main de robot
EP2380713A4 (fr) Main de robot
IL194167A0 (en) Lawn care robot
EP1980373A4 (fr) Robot marcheur
DE602007000192D1 (de) Gelenkstruktur eines roboters
EP2152184A4 (fr) Manipulateur chirurgical
DE502007000445D1 (de) Tragbares Sprühgerät
EP2383082A4 (fr) Main de robot
DE602007004387D1 (de) Industrieroboter
EP2149434A4 (fr) Joint articulé
EP1908561A4 (fr) Dispositif de commande de robot mobile
ITTO20040266A1 (it) Robot industriale
EP1974429A4 (fr) Station de conversion
EP1752265A4 (fr) Robot manipulateur
DE502005001223D1 (de) Knickroboter
DE112006003808A5 (de) Halteschlaufe
EP1974431A4 (fr) Station de conversion
FR2938469B1 (fr) Timon articule
DE502007004639D1 (de) Sprühdose
BRPI0906321A2 (pt) &#34;multienzima&#34;
DE112008002413A5 (de) CO2-Umsetzer
IT1393696B1 (it) Accessorio per guidare il movimento di imposte articolate.

Legal Events

Date Code Title Description
PLFP Fee payment

Year of fee payment: 9

PLFP Fee payment

Year of fee payment: 10

PLFP Fee payment

Year of fee payment: 11

PLFP Fee payment

Year of fee payment: 13

PLFP Fee payment

Year of fee payment: 14

PLFP Fee payment

Year of fee payment: 15

PLFP Fee payment

Year of fee payment: 16

PLFP Fee payment

Year of fee payment: 17

PLFP Fee payment

Year of fee payment: 18