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1. 发明公开

EP2984625A1 PROCEDE D'ESTIMATION DE LA DEVIATION ANGULAIRE D'UN ELEMENT MOBILE RELATIVEMENT A UNE DIRECTION DE REFERENCE 有权
标题翻译： VERFAHREN ZUR MESSUNG DER WINKELABWEICHUNG EINES MOBILEN ELEMENTSBEZÜGLICHEINER REFERENZRICHTUNG
公开(公告)号：EP2984625A1
公开(公告)日：2016-02-17
申请号：EP14716311.7
申请日：2014-04-09
申请人： Aldebaran Robotics , Association pour la Recherche et le Développement des Méthodes et Processus Industriels (ARMINES)
发明人： WIRBEL, Emilie , DURIEZ, Franck , DE LA FORTELLE, Arnaud , STEUX, Bruno , BONNABEL, Silvère
IPC分类号： G06T7/00
CPC分类号： G06T7/20 , G06K9/6202 , G06T7/74 , G06T2207/10016 , G06T2207/30241
摘要： The invention concerns a method for estimating the angular deviation of a mobile element relative to a reference direction, the method comprising the following steps: acquiring a reference image (101) representative of a reference direction of the mobile element; acquiring a current image (102) representative of the current direction of the mobile element; identifying points of interest in the reference image and in the current image (103); determining at least two pairs of points of interest (104), one pair consisting of a point of interest of the current image and a point of interest corresponding to same in the reference image; determining the angular deviation (105) between the current direction and the reference direction of the mobile element by using the at least two pairs of points identified in the previous step.
摘要翻译：用于估计移动元件相对于基准方向的角度偏差的方法包括以下步骤：获取移动元件的参考方向的参考图像; 获取移动元件的当前方向的当前图像; 识别参考图像和当前图像中的兴趣点; 确定至少两对感兴趣点，一对由当前图像中的兴趣点和与参考图像中的相关兴趣点构成; 通过使用在前一步骤中标识的至少两对点来确定移动元件的电流方向和参考方向之间的角度偏差。

2. 发明公开

EP2878745A1 Système de surveillance d'un bassin et procédé de surveillance associé 审中-公开
标题翻译： Überwachungssystemeines Beckens，und entsprechendesÜberwachungsverfahren
公开(公告)号：EP2878745A1
公开(公告)日：2015-06-03
申请号：EP15150537.7
申请日：2012-11-20
申请人： Aldebaran Robotics
发明人： Maisonnier, Bruno , Bardinet, Fabien
IPC分类号： E04H4/16 , G01N33/18 , G08B21/08
CPC分类号： G01N33/1886 , E04H4/06 , G08B21/084 , G08B29/188
摘要： Système de surveillance d'un bassin contenant un liquide tel que de l'eau, comprenant au moins un premier élément comprenant au moins un robot submersible (2A, 2B, 2C) doté de capacités de propulsion autonomes dans ledit bassin, à bord duquel est embarqué au moins un capteur (15) apte à produire au moins une mesure d'une grandeur représentative d'au moins une perturbation dudit bassin par rapport à un état de référence, ledit le premier élément étant en outre doté de capacités de communication en position immergée avec au moins un deuxième élément (2A, 2B, 2C, 5), le système étant configuré pour traiter dans des moyens de traitement (11) la sortie du au moins un capteur (15) et déclencher au moins une action.
摘要翻译：用于监视包含诸如水的液体的池的系统包括至少一个包括至少一个潜水机器人的第一元件，所述至少一个潜水机器人具有用于推动机器人在游泳池中的独立推进能力，其中机器人安装有至少一个能够传感的传感器产生相对于参考状态表示所述池的至少一个干扰的量的至少一个测量值，所述第一元件还具有用于在所述浸没位置中与至少一个第二元件通信的通信能力，所述系统被配置为在处理装置中处理所述至少一个传感器的输出并且触发至少一个动作。

3. 发明公开

EP2844498A1 ROUE SPHÉRIQUE ET VÉHICULE METTANT EN OEUVRE LA ROUE 有权
标题翻译： KUGELFÖRMIGESRAD UND FAHRZEUG MIT DIESEM RAD
公开(公告)号：EP2844498A1
公开(公告)日：2015-03-11
申请号：EP13719838.8
申请日：2013-04-30
申请人： Aldebaran Robotics
发明人： CLERC, Vincent , MAISONNIER, Bruno
IPC分类号： B60B19/14 , B62D57/00 , B60B33/00
CPC分类号： B60B19/003 , B60B19/12 , B60B19/14 , B60B33/0049 , B60B2900/133 , B60B2900/551 , B60Y2200/80 , B62D61/06
摘要： The invention relates to a spherical wheel (10) for moving a vehicle, and to a vehicle implementing the wheel, wherein the wheel (10) is rotated by a shaft (12) that is rotatable about an axis (14). According to the invention, the wheel (10) includes two hemispherical shells (15, 16), the surfaces of which follow the spherical surface of the wheel (12) and each of which is delimited by a plane (17, 18). The hemispherical shells (15, 16) are each pivotable, via a pivot linkage, relative to the shaft (12), an axis (21, 22) of each of the pivot linkages being perpendicular to the plane (17, 18) of the hemispherical shell (15, 16) in question. The planes (17, 18) delimiting the two hemispherical shells (15, 16) intersect.
摘要翻译：提供了用于移动车辆和实现车轮的车辆的球形车轮，其轮由其能够围绕轴线旋转的轴而旋转。轮（10）包括两个壳，其表面遵循车轮的球形表面，并且每个壳由平面限定。壳体各自通过相对于轴的枢转连接而铰接，每个枢转连接件的轴线垂直于相关壳体的平面。包围两个壳的飞机是正割的。

4. 发明授权

EP2608997B1 ROBOT HUMANOIDE DOTE DE CAPACITES DE GESTION DE CHUTES ET METHODE DE GESTION DESDITES CHUTES 失效
标题翻译：机器人人力资源管理软件DE CAPESITES DE GESTION DE CHUTES ET METHODE DE GESTION DESDITES CHUTES
公开(公告)号：EP2608997B1
公开(公告)日：2013-12-25
申请号：EP11741576.0
申请日：2011-08-11
申请人： Aldebaran Robotics S.A.
发明人： GOUAILLIER, David
IPC分类号： B62D57/032
CPC分类号： G05D1/021 , B62D57/032 , G06F11/30 , Y10S901/01
摘要： 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.
摘要翻译：本发明涉及具有用于管理跌倒的特定能力的类人机器人。下降的风险限制了人形机器人的大众市场使用的发展。在现有技术中，用于检测跌倒的模式并不适合于非常动态的机器人，因为质量中心经常在其支撑多边形之外。管理跌倒的模式也不适合于必须在其计算资源上经济的机器人。根据本发明，常规支撑多边形补充有效应器，对其确定它们足够靠近地面。保护策略是从一组由跌落角度分类定义的策略中选择的。

5. 发明公开

EP2612208A1 MOBILE ROBOT 审中-公开
标题翻译：移动机器人
公开(公告)号：EP2612208A1
公开(公告)日：2013-07-10
申请号：EP11752545.1
申请日：2011-09-05
申请人： Aldebaran Robotics
发明人： BAILLIE, Jean-Christophe
IPC分类号： G05D1/02 , G05D1/00
CPC分类号： G05D1/0276 , G05D1/0038 , G05D1/0225 , G05D1/0246 , G05D1/0255 , G05D1/028 , Y10S901/01 , Y10S901/47
摘要： It is provided a control device (9) for a mobile robot (1), the robot (1) comprising a camera (3) and a communication unit (4), the control device (9) comprising a display unit (10), which displays an image corresponding to the image taken by the camera (3) and transmitted by the communication unit (4), and a user interface (11), wherein the user interface (11) is configured to allow a user to control a position of a pointer (15) on the image displayed by the display unit (10), and the user interface (11) comprises a selection unit (16) allowing the user to select a position of the pointer (15) on the image displayed by the display unit (10), the control device (9) further comprising a computation unit (13) and a communication system (14), the computation unit (13) being configured to compute displacement commands and send them through the communication system (14) to the robot (1), 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.

6. 发明公开

EP2448810A1 PROCEDE POUR CONTRÔLER LA MARCHE D'UN ROBOT MOBILE ET ROBOT METTANT EN OEUVRE LE PROCEDE 有权
标题翻译：用于控制该方法的移动机器人与行走运动的机器人
公开(公告)号：EP2448810A1
公开(公告)日：2012-05-09
申请号：EP10726979.7
申请日：2010-06-29
申请人： Aldebaran Robotics S.A.
发明人： MAISONNIER, Bruno , LAFOURCADE, Pascal , BERTHOZ, Alain
IPC分类号： B62D57/032
CPC分类号： B25J9/16 , B62D57/02 , B62D57/032 , Y10S901/01
摘要： The invention relates to a method for controlling the walking motion of a movable robot, in particular a humanoid robot moving on two legs. According to the prior art, robots are controlled by guiding a specific point referred to as the Zero Motion Point (105). Said guidance is performed within a fixed frame of reference associated with the surface on which the robot walks and requires knowledge of the characteristics of said surface and the creation of an estimated path. Said guiding process has considerable limitations due to the nature of the walking surfaces on which the walking motion can be effectively controlled and the necessity of knowing the exact geometry of said surfaces; said process is also limited in terms of the required computing power and the appearance of the walking motion, which bears little resemblance to an actual walking motion of humans. The invention overcomes said limitations by providing a walking motion that comprises a pseudo-free or ballistic phase (801), a take-off phase (802) performed by the heel of the robot, and a landing phase.

7. 发明授权

EP2844498B1 ROUE SPHÉRIQUE ET VÉHICULE METTANT EN OEUVRE LA ROUE 有权
标题翻译： ROUESPHÉRIQUEETVÉHICULEMETTANT EN OEUVRE LA ROUE
公开(公告)号：EP2844498B1
公开(公告)日：2017-10-04
申请号：EP13719838.8
申请日：2013-04-30
申请人： Aldebaran Robotics
发明人： CLERC, Vincent , MAISONNIER, Bruno
IPC分类号： B60B19/00 , B60B19/12 , B60B19/04 , B60B19/14 , B60B33/00
CPC分类号： B60B19/003 , B60B19/12 , B60B19/14 , B60B33/0049 , B60B2900/133 , B60B2900/551 , B60Y2200/80 , B62D61/06

8. 发明公开

EP3152008A1 SÉCURITÉ D'UN ROBOT À CARACTÈRE HUMANOÏDE 有权
标题翻译： SICHERHEIT EINES HUMANOIDEN ROBOTERS
公开(公告)号：EP3152008A1
公开(公告)日：2017-04-12
申请号：EP15728800.2
申请日：2015-06-03
申请人： Aldebaran Robotics
发明人： CLERC, Vincent
IPC分类号： B25J9/10 , B62D57/032 , B25J19/06
CPC分类号： B25J9/101 , B25J19/06 , Y10S901/13
摘要： The invention relates to a humanoid-type robot (10') comprising two elements (1, 2) and an articulation (20) with at least one degree of freedom that connects the two elements (1, 2), the articulation (20) allowing travel in a given range (α) during operation, a first (1) of the two elements being intended to come into contact with a stop (22) belonging to a second (2) of the two elements at the end of the range (α). According to the invention, the robot (10) also comprises at least one switch. The switch is configured to actuate an electrical contact when a force exerted on the stop (22) by the first element (1) exceeds a given force.
摘要翻译：类人形机器人包括两个元件和具有连接两个元件的至少一个自由度的铰接，所述铰接允许在操作操作中在给定范围内移动，所述两个元件中的第一个旨在与属于范围结尾的两个元素中的第二个的基台。根据本发明，机器人还包括至少一个开关。该开关构造成当由第一元件施加在抵靠抵靠物上的力超过给定的力时致动电接触。

9. 发明公开

EP3053162A1 PROCEDE DE DIALOGUE ENTRE UNE MACHINE, TELLE QU'UN ROBOT HUMANOÏDE, ET UN INTERLOCUTEUR HUMAIN, PRODUIT PROGRAMME D'ORDINATEUR ET ROBOT HUMANOÏDE POUR LA MISE EN OEUVRE D'UN TEL PROCEDE 审中-公开
标题翻译：程序对之间的一台机器，对话如A类人机器人，和人接触，计算机程序产品和人形机器人用于执行该方法
公开(公告)号：EP3053162A1
公开(公告)日：2016-08-10
申请号：EP14777579.5
申请日：2014-09-29
申请人： Aldebaran Robotics
发明人： PATRIS, Magali , HOUSSIN, David , MONCEAUX, Jérôme
IPC分类号： G10L17/22 , G10L15/22 , G06N3/00
摘要： The invention relates to a method for dialogue between a machine (OE), preferably a humanoid robot (R), and at least one human interlocutor (INT). Said method comprises the following steps, implemented by said computer: a) identifying said human interlocutor; b) extracting, from a database (BDD), an interlocutor profile (INT_PR) including a plurality of dialogue variables, at least one value being attributed to at least one of said dialogue variables; c) receiving and analyzing at least one phrase from said interlocutor; and d) formulating and sending at least one response phrase on the basis of at least said phrase, received and interpreted during Step c), and a so-called "dialogue variable" from said interlocutor profile.

10. 发明授权

EP2705733B1 CIRCUIT IMPRIMÉ DESTINÉ À ASSURER LE RACCORDEMENT D'UN MOTEUR ÉLECTRIQUE ET MOTEUR ÉLECTRIQUE COMPRENANT LE CIRCUIT IMPRIMÉ 有权
标题翻译：董事会全体成员保证电动发动机和电动马达与电路板的端口
公开(公告)号：EP2705733B1
公开(公告)日：2015-10-28
申请号：EP12718217.8
申请日：2012-05-02
申请人： Aldebaran Robotics
发明人： CLERC, Vincent
IPC分类号： H05K1/02 , H02K11/02
CPC分类号： H02K11/0005 , H02K11/01 , H02K11/024 , H02K11/026 , H02K2203/03 , H05K1/0231 , H05K1/028 , H05K1/118 , H05K2201/053 , H05K2201/0715 , H05K2201/10015

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