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1. (WO2017187235) A MOBILE ROBOT WITH ENHANCED BALANCED MOTION AND BEHAVIOR CAPABILITIES

Pub. No.:    WO/2017/187235    International Application No.:    PCT/IB2016/052452
Publication Date: Fri Nov 03 00:59:59 CET 2017 International Filing Date: Sat Apr 30 01:59:59 CEST 2016
IPC: B25J 9/16
B25J 11/00
Applicants: SOFTBANK ROBOTICS EUROPE
Inventors: DALIBARD, Sébastien
LANCA, Justine
LAFAYE, Jory
Title: A MOBILE ROBOT WITH ENHANCED BALANCED MOTION AND BEHAVIOR CAPABILITIES
Abstract:
The invention relates to a mobile robot which is able 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 (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 defining a behavior of the mobile robot, predicted movements of articulated limbs.