Mobile robot with spherical wheels and comprising articulated torso

Abstract

The invention relates to a robot (1) capable of moving on the ground by means of spherical wheels (2) adapted to roll on the ground, said robot (1) comprising a torso (4), at least one arm (5) and an upper part (6), said torso (4) being connected to a platform (3) and to the upper part (6), characterized in that said robot (1) can be moved by tilting between an upright position and a tilted position, the torso (4) of the robot (1) comprises a first part (40) and a second part (41), the torso (4) being configured to maintain the position of the center of mass (7) of the robot (1) to allow the robot (1) to tilt towards the ground.

Description

Technical Field

[0001] The present invention relates to the field of robots, and more particularly to humanoid robots. More specifically, the present invention relates to a robot having a single spherical wheel and a movable torso, i.e., a torso that can be tilted relative to the spherical wheel. Background Art

[0002] Known robots have a single spherical wheel on which the entire robot rests. These types of robots are commonly referred to as "spherical robots". These robots can move stably in all directions by means of a single spherical wheel.

[0003] In particular, known robots having a single spherical wheel each have a torso, two arms, and an upper part. The torso is connected to the spherical wheel and is fixed relative thereto, each arm is connected to the torso by a pin joint or a ball-and-socket joint to allow mobility of each arm relative to the torso, and the upper part is connected to the upper portion of the torso and is fixed relative thereto. The upper part of the robot includes at least one sensor configured to enable the robot to locate itself in its environment. Such a robot is configured to move in all directions and use its arms to perform tasks such as gripping an object. In this case, the arms are equipped with clamps for gripping the object to be grasped.

[0004] However, since only its arms are movable, such a robot can only perform tasks at arm height. In particular, it does not allow tasks to be performed at positions close to the ground. Therefore, such a robot is designed to perform specific types of tasks at a specific height and cannot adapt to its environment.

[0005] Also known are so-called humanoid robots, i.e., robots having a shape similar to that of a human body, with two legs, a torso, two arms, and a head. The legs have the same joints as human legs, and each leg is connected to the torso by a pin joint, the torso is connected to each arm by a ball-and-socket joint or a pin joint, and the head is connected to the torso by a pin joint. In this way, each part can move relative to the other parts, and such a robot provides a certain degree of movement diversity.

[0006] However, the legs have multiple mechanical parts and joints between them. Therefore, the fabrication and use of the robot are very complex.

[0007] Also known are robots similar to the aforementioned humanoid robots, but characterized by having a bottom plate to which at least three wheels are connected instead of a pair of legs. Thus, the robot is movable in all directions by means of the wheels, the bottom plate is connected to the torso by a ball-and-socket joint, the torso is connected to each arm by a ball-and-socket joint or a pin joint, and the head is connected to the torso by a pin joint. In this way, each part can move relative to the other parts, and such a robot provides a certain degree of movement diversity.

[0008] However, the wheels connected to the baseplate take up a lot of space, especially at ground level. Indeed, since each wheel is a support point of the robot on the ground, they need to be spaced apart from each other on the ground to ensure that the robot remains stable in both static and moving positions. In particular, the wheel spacing is essential to prevent the robot from falling over when the torso tilts relative to the baseplate, for example. Therefore, such a robot takes up a lot of space and may not be suitable for small environments.

[0009] Therefore, the present invention aims to solve the above problems by proposing a robot with a single spherical wheel for movement, the wheel being in contact with the ground on which the robot rests, having a torso, two arms and an upper part, in particular a robot with a movable torso, i.e. the torso can tilt relative to the spherical wheel, enabling it to adapt to and interact with its environment. The robot according to the present invention can perform various tasks at different heights while taking up little space and remaining stable. Summary of the Invention

[0010] More precisely, the present invention relates to a robot with a single spherical wheel for movement, the wheel being configured to be in contact with the ground, and a platform mounted on the spherical wheel by a stabilizing device, the robot being configured to move on the ground by means of the spherical wheel adapted to roll on the ground, the robot having a torso, at least one arm and an upper part, the torso being connected to the platform and the upper part, and the arm being connected to the torso by at least one pin joint or at least one ball-and-socket joint. The robot can move tiltably between an upright position and a tilted position, the torso of the robot having a first part and a second part, the first part being connected to the platform by a first end at least by a pin joint or a ball-and-socket joint, the second part being connected to the upper part by a first end, the first part being connected to the second end of the second part by a second end at least by a pin joint or a ball-and-socket joint, the torso being configured to maintain the position of the center of mass of the robot to allow the robot to tilt towards the ground.

[0011] The first and second parts allow the torso, and thus also the robot, to tilt. The tilting of its torso gives the robot an adjustable gripping height. In addition, the robot remains stable on the spherical wheel in both static and moving positions, as well as in upright and tilted positions. Therefore, the robot can tilt towards the ground to pick up and / or move objects in its environment while remaining stable and taking up little space. The robot operates at variable heights, adapting it to its environment. In addition, the robot can adapt to the load of the object to be moved and / or gripped. Indeed, the weight of the object may shift the center of mass, causing the robot to become unstable. To maintain the balance of the robot when carrying an object, it is only necessary to pivot the first and / or second parts to recenter the center of mass.

[0012] In addition, the tilting of the torso increases the field of vision of the robot, making it closer to human movement and making it more accessible.

[0013] According to the first embodiment, the first part is connected to the platform by a pin joint at the first end, and the first part is connected to the second end of the second part by a pin joint at the second end.

[0014] According to the second embodiment, the first part is connected to the platform by a ball and socket joint at the first end, and the first part is connected to the second end of the second part by a ball and socket joint at the second end.

[0015] Advantageously, in the upright position, the axis of the joint connecting the first end of the second part to the upper part, the axis of the joint connecting the second end of the second part to the second end of the first part, and the axis of the joint connecting the first end of the first part to the platform are located in the frontal plane of the robot, and, in the tilted position, at least the axis of the joint connecting the first end of the first part to the platform is located in the frontal plane of the robot, the axis of the joint connecting the second end of the second part to the second end of the first part is at a certain distance from the frontal plane, and the axis of the joint connecting the first end of the second part to the upper part is located in the frontal plane or at a certain distance from the frontal plane.

[0016] In this way, when the torso is tilted, the robot has an adjustable gripping height, and the position of the center of mass remains in plane A to keep the robot balanced. Thus, the robot can be tilted and stable, but occupies little space.

[0017] More advantageously, the robot has two arms which, in the tilted position, extend on either side of the frontal plane of the robot or on the same side of the frontal plane.

[0018] The presence of one arm enables the robot to grasp an object, and the presence of multiple arms enables it to grasp larger objects while remaining stable.

[0019] Preferably, in the tilted position, the robot has two arms extending on the same side of the frontal plane, and, in the tilted position, the axis of the joint connecting the first end of the first part to the platform is located in the frontal plane of the robot, and the axes of the joints connecting the second end of the second part to the second end of the first part and the first end of the second part to the upper part are at a certain distance from the frontal plane.

[0020] More preferably, in the tilted position, the robot has two arms extending on either side of the frontal plane, and, in the tilted position, the axes of the joints connecting the first end of the first part to the platform and the first end of the second part to the upper part are located in the frontal plane of the robot, and the axis of the joint connecting the second end of the second part to the second end of the first part is at a certain distance from the frontal plane.

[0021] Advantageously, the means for stabilizing the platform are configured to keep the platform in a predetermined, in particular horizontal, position relative to the ground.

[0022] More advantageously, at least one arm has a distal segment and a proximal segment, the distal segment and the proximal segment being connected by a pin-type joint or a ball-and-socket joint, the arm being configured to move between a stretched position in which the distal segment and the proximal segment are aligned and a bent position in which the proximal segment is inclined relative to the distal segment.

[0023] Preferably, the robot further has at least one gripper, in particular a hand, the gripper being connected to one end of the arm by a pin joint or a ball-and-socket joint, the gripper having at least two fingers forming pincers, the gripper being configured to grip an object. Description of the Drawings

[0024] The present invention will be better understood by reading the following description, which is given by way of example and with reference to the following figures, as non-limiting examples, in which the same reference numerals are given to similar objects, where:

[0025] Figure 1 is a schematic front view of a robot according to the present invention, having spherical wheels for movement and a platform mounted on the wheels, on which a torso and an upper part are mounted, the torso having a first and a second part;

[0026] Figure 2 is a view of the robot in Figure 1 as seen from the right side, the robot being in an upright position;

[0027] Figure 3 is similar to Figure 2 , but the arms of the robot are arranged along the torso of the robot;

[0028] Figure 4 is similar to Figure 2 , but the robot is in an inclined position;

[0029] Figure 5 is similar to Figure 3 , but the robot is in an inclined position and the arms are substantially beside the torso;

[0030] Figure 6 is similar to Figure 5 , but the arms are directed towards the front of the robot;

[0031] Figure 7 is similar to Figure 6 , but in a more inclined position;

[0032] Figure 8 is similar to Figure 6 , but the arms are directed towards the rear of the robot; and

[0033] ​​​​​​​​​Figure 9 ] is similar to [ Figure 5 ], but in a more oblique position.

[0034] It should be noted that these figures illustrate the invention in detail to implement the invention; although not limiting, these figures can of course be used to further define the invention where appropriate. DETAILED DESCRIPTION

[0035] The present invention relates to a robot 1 having a single spherical wheel 2 configured to contact the ground, and a platform 3 mounted on the spherical wheel 2 by means of a stabilizing device. The robot 1 rests on the spherical wheel 2 by means of the platform 2. This type of robot 1 is generally referred to as a "ballbot".

[0036] The robot 1 can move stably in all directions on the ground by means of a single spherical wheel 2 .

[0037] The platform 3 is mounted on the spherical wheel 2 so that the lower part of the spherical wheel 2 is permanently in contact with the ground. In particular, the platform 3 has a stabilizing device configured to stably hold the robot 1 on the spherical wheel 2 both when the robot 1 is in a stationary position and when the robot 1 is moving.

[0038] The stabilization device can, for example, have a retaining member 30 which at least partially surrounds the spherical wheel 2. Here, the stabilization device has three retaining members 30 which are distributed around the spherical wheel 2.

[0039] The stabilizing means may also comprise at least one secondary wheel 31, in this case three secondary wheels 31, configured to rotate and allow the spherical wheel 2 to move and / or keep the robot 1 in the upright position depicted in the figures when it is at rest.

[0040] In the rest position, the platform 3 of the robot extends substantially parallel to the ground and the robot is located in a frontal A plane, which is perpendicular to the ground.

[0041] In order to move, thereby triggering the rotation of at least one secondary wheel 31 and thus the spherical wheel 2, the robot must be tilted in the desired direction relative to the frontal plane A. In this way, the robot 1 can move omnidirectionally in any direction.

[0042] The robot 1 has a trunk 4 , at least one arm 5 and a top part 6 .

[0043] In particular, the torso 4 is connected to the platform 3 and to the upper portion 6 .

[0044] The arm 5 is connected to the torso 4 by a pin-joint type joint or a ball-and-socket type joint. The robot 1 may have multiple arms 5; in this case, the robot 1 has two arms 5, and each arm is connected to the torso 4 by a pin-joint type joint or a ball-and-socket type joint.

[0045] In addition, the robot according to the present invention can tilt between an upright position (as Figures 1 to 3 shown) and an inclined position (as Figures 4 to 9 depicted).

[0046] The torso 4 has a first part 40 and a second part 41. Each of the first and second parts 40, 41 has a first end and a second end.

[0047] The first part 40 is connected to the platform 3 by its first end by means of a pin joint or a ball-and-socket joint. The second part 41 is connected to the upper part 6 by its first end by means of a pin joint or a ball-and-socket joint.

[0048] The second end of the first part 40 is connected to the second end of the second part 41 by a pin joint or a ball-and-socket joint.

[0049] According to one embodiment shown in the figure, the first part 40 is connected to the platform 3 by its first end by means of a pin joint, the first part 40 is connected to the second end of the second part 41 by its second end by means of a pin joint, and the first end of the second part 41 is connected to the upper part 6 by a pin joint.

[0050] According to another embodiment not shown, the first part 40 is connected to the platform 3 by its first end by means of a ball-and-socket joint, the first part 40 is connected to the second end of the second part 41 by its second end by means of a ball-and-socket joint, and the first end of the second part 41 is connected to the upper part 6 by a ball-and-socket joint.

[0051] The foregoing two embodiments can be combined. For example, the first part 40 is connected to the platform 3 by its first end by means of a ball-and-socket joint, the first part 40 is connected to the second end of the second part 41 by its second end by means of a pin joint, and the first end of the second part 41 is connected to the upper part 6 by a ball-and-socket joint. In another example, the first part 40 can be connected to the platform 3 by its first end by means of a pin joint, the first part 40 can be connected to the second end of the second part 41 by its second end by means of a ball-and-socket joint, and the first end of the second part 41 is connected to the upper part 6 by a pin joint.

[0052] In the upright position, as Figure 1 and Figure 2 shown, the first part 40 and the second part 41 are located in the A plane of the robot 1.

[0053] In the inclined position, as Figure 4 andFigure 9 As shown, the first part 40 and / or the second part 41 are inclined with respect to the A plane of the robot 1.

[0054] The torso 4 is configured to maintain the position of the center of mass 7 of the robot 1, thereby allowing the robot 1 to tilt towards the ground while maintaining its balance.

[0055] The arm 5 has a distal segment 50 and a proximal segment 51 and a gripper, here the hand 52. The proximal segment 51 is connected to the torso 4 by a ball-and-socket joint or a pin joint, and is also connected to the distal segment by a ball-and-socket joint or a pin joint. The distal segment 50 is also connected to the hand 52 by a pin joint or a ball-and-socket joint.

[0056] Here, the robot 1 has a plurality of arms 5. In this case, each arm 5 has a distal segment 50 and a proximal segment 51, and a hand 52. The proximal segment 51 is connected to the torso 4 by a ball-and-socket joint or a pin joint, and is also connected to the distal segment by a ball-and-socket joint or a pin joint. The distal segment 50 is also connected to the hand 52 by a pin joint or a ball-and-socket joint.

[0057] Each arm 5 is configured to move between a stretched position (where the distal and proximal segments are aligned) and a bent position (where the proximal segment is inclined with respect to the distal segment).

[0058] The gripper has at least two fingers forming a clamp, and the gripper is configured to grip an object.

[0059] In the example illustrated in the figure, the hand 52 is a robotic hand having a palm and a plurality of fingers.

[0060] In other embodiments, the hand can be, for example, a clamp or a suction cup.

[0061] The upper part 6 of the robot 1 has at least one sensor, in particular a plurality of sensors and cameras, and is configured to enable the robot 1 to sense its environment, in particular to detect an object to be gripped and / or moved located opposite the upper part and within its field of view.

[0062] In a particular example of the present invention, the upper part 6 can have an RGB camera and / or an infrared camera and / or a stereo depth camera and / or a microphone and / or a "time-of-flight laser" sensor.

[0063] We will now describe the various movements of the robot 1 with reference to the figures.

[0064] In Figures 1 to 3In the depicted upright and stationary position, the axes of the joints connecting the first end of the second part 41 to the upper part 6, the axes of the joints connecting the second end of the second part 41 to the second end of the first part 40, and the axes of the joints connecting the first end of the first part 40 to the platform 3 lie in the A-plane of the robot 1.

[0065] In this upright and stationary position, the robot, particularly its torso 4, extends substantially along the vertical axis Y, which is orthogonal to the ground.

[0066] As Figure 3 shown, the arm 5 extends along the vertical direction Y along the torso 4.

[0067] According to other examples not shown, the arm can extend away from the torso, i.e., the arm can be inclined with respect to the A-plane of the robot. When the robot has two arms, as in this example, the two arms can be inclined on the same side of the A-plane with respect to the A-plane. Alternatively, the two arms can be inclined on both sides of the A-plane with respect to the A-plane.

[0068] In the upright and stationary position, the center of mass 7 lies in the A-plane. The robot 1 is stable on the spherical wheels 2.

[0069] When in motion, the robot 1 inclines in the desired direction with respect to the A-plane. Thus, the center of mass 7 is displaced along the length of the torso 4 in the same direction. The robot 1 maintains balance through the movement of the spherical wheels 2.

[0070] In Figures 4 to 9 the depicted inclined and stationary position, at least the axis of the joint connecting the first end of the first part 40 to the platform 3 lies in the A-plane of the robot 1. The axis of the joint connecting the second end of the second part 41 to the second end of the first part 40 is at a certain distance from the A-plane. The axis of the joint connecting the first end of the second part 41 to the upper part 6 may lie in the A-plane or may be at a certain distance from the A-plane.

[0071] As Figure 4 shown, the axis of the joint connecting the first end of the first part 40 to the platform 3 lies in the A-plane of the robot 1, the axis of the joint connecting the second end of the second part 41 to the second end of the first part 40 is at a certain distance from the A-plane, behind the A-plane, and the axis of the joint connecting the first end of the second part 41 to the upper part 6 lies in the A-plane.

[0072] The first part 40 pivots about the axis of the pin joint connecting the first part 40 to the platform 3. The first part 40 is inclined with respect to the vertical direction Y. The second part 41 pivots about the axis of the pin joint connecting it to the first part 40, in a direction opposite to that of the first part 40.

[0073] In the tilted, stationary position, the center of mass 7 lies within the A-plane. The robot 1 remains stable on the spherical wheels 2.

[0074] As Figure 4 shown, the upper part 6 is oriented towards the ground, allowing the field of view of the robot to encompass the objects arranged thereon.

[0075] As Figure 5 shown, the arm 5 of the robot 1 extends in the vertical direction Y. The center of mass 7 lies within the A-plane.

[0076] As Figure 6 shown, the arm 5 of the robot 1 extends forward from the A-plane, substantially parallel to the ground. In this position, the center of mass is shifted forward from the A-plane. To maintain the balance of the robot 1 and return the center of mass 7 to the A-plane, only the first part 40 needs to pivot further backward from the A-plane.

[0077] In Figure 7 , the robot 1 is tilted more than in Figure 6 . In fact, the second part 41 pivots further in the direction opposite to the pivoting direction of the first part 40. The center of mass 7 is shifted forward from the A-plane. To maintain the balance of the robot 1 and return the center of mass 7 to the A-plane, only the first part 40 needs to pivot further backward from the A-plane.

[0078] In Figure 8 , the arm of the robot 1 extends backward from the A-plane, substantially parallel to the ground. In this position, the center of mass 7 is shifted backward from the A-plane. To maintain the balance of the robot 1 and return the center of mass to the A-plane, only the second part 41 needs to pivot further in the direction opposite to the pivoting direction of the first part 40.

[0079] In Figure 9 , this is a view similar to Figure 5 , except that the robot is tilted more, the center of mass lies within the A-plane, and the robot 1 remains balanced on the spherical wheels 2. In this position, the first part 40 pivots further backward from the A-plane, while the second part 41 pivots further in the direction opposite to the pivoting direction of the first part 40.

[0080] The robot 1 can be in a tilted position, such as the example shown in Figure 9 , where its arms extend on both sides of the A-plane. In this case, the center of mass 7 lies within the A-plane, and the robot 1 remains balanced on the spherical wheels 2.

[0081] In particular, the axis of the joint connecting the first end of the first part 40 to the platform 3 and the axis of the joint connecting the first end of the second part 41 to the upper part 6 are located in the A plane of the robot 1, while the axis of the joint connecting the second end of the second part 41 to the second end of the first part 40 is at a certain distance from the A plane, towards its rear.

[0082] Therefore, the robot 1 is stable on the spherical wheels 2 in static and moving positions, as well as in upright and tilted positions. The robot 1 can thus tilt towards the ground to pick up and / or move objects in its environment. The robot 1 operates at a variable height, adapting it to its environment.

[0083] Furthermore, the robot 1 can adapt to the load of the object to be moved and / or gripped. In fact, the weight of the object may shift the center of mass, causing the robot to become unstable. To maintain the balance of the robot when carrying an object, the first and / or second part only needs to pivot to recenter the center of mass, in other words, to place it in the A plane.

[0084] In a variant not shown in the figures, the gripping area of the robot can be increased, particularly by increasing the length of the arm. If the arm is extended, the robot can reach the ground, for example, or reach a greater distance from its torso.

[0085] The present invention is not limited to the foregoing embodiments, but extends to any equivalent embodiments.

Claims

1. A robot (1) having a single spherical wheel (2) for movement, configured to be in contact with the ground, and a platform (3) mounted on said spherical wheel (2) by a stabilizing means, said robot (1) being configured to move on the ground by means of said spherical wheel (2) adapted to roll on the ground, said robot (1) having a torso (4), at least one arm (5) and an upper part (6), said torso (4) being connected to said platform (3) and said upper part (6), said arm (5) being connected to said torso (4) by at least one pin joint or at least one ball and socket joint, characterized in that, The robot (1) can move tiltably between an upright position and an inclined position. The torso (4) of the robot (1) has a first part (40) and a second part (41). The first part (40) is connected to the platform (3) at its first end at least through a pin joint or a ball-and-socket joint. The second part (41) is connected to the upper part (6) at its first end. The first part (40) is connected to the second end of the second part (41) at its second end at least through a pin joint or a ball-and-socket joint. The torso (4) is configured to maintain the position of the center of mass (7) of the robot (1) to allow the robot (1) to tilt towards the ground.

2. The robot (1) according to the preceding claim, characterized in that, The first part (40) is connected to the platform (3) at its first end through a pin joint, and the first part (40) is connected to the second end of the second part (41) at its second end through a pin joint.

3. The robot (1) according to claim 1, characterized in that, The first part (40) is connected to the platform (3) at its first end through a ball-and-socket joint, and the first part (40) is connected to the second end of the second part (41) at its second end through a ball-and-socket joint.

4. The robot (1) according to any one of the preceding claims, characterized in that, In the upright position, the axis of the joint connecting the first end of the second part (41) to the upper part (6), the axis of the joint connecting the second end of the second part (41) to the second end of the first part (40), and the axis of the joint connecting the first end of the first part (40) to the platform (3) are located in the front plane (A) of the robot (1). And in the inclined position, at least the axis of the joint connecting the first end of the first part (40) to the platform (3) is located in the front plane (A) of the robot (1), the axis of the joint connecting the second end of the second part (41) to the second end of the first part (40) is at a distance from the front plane (A), and the axis of the joint connecting the first end of the second part (41) to the upper part (6) is located in the front plane (A) or at a distance from the front plane (A).

5. The robot (1) according to any one of the preceding claims, characterized in that, The robot (1) has two arms (5). In the inclined position, the arms (5) extend on both sides of the front plane (A) of the robot (1) or on the same side of the front plane (A).

6. The robot (1) according to the preceding claim, characterized in that, In the inclined position, the robot (1) includes two arms (5) extending on the same side of the front plane (A). And in the inclined position, the axis of the joint connecting the first end of the first part (40) to the platform (3) is located in the front plane (A) of the robot (1), and the axes of the joints connecting the second end of the second part (41) to the second end of the first part (40) and connecting the first end of the second part (41) to the upper part (6) are at a distance from the front plane (A).

7. The robot (1) according to claim 5, characterized in that, In the tilted position, the robot (1) has two arms (5) extending on either side of the frontal plane (A), and in the tilted position, the axes of the joints connecting the first end of the first part (40) to the platform (3) and the axes of the joints connecting the first end of the second part (41) to the upper part (6) are in the frontal plane (A) of the robot (1), and the axis of the joint connecting the second end of the second part (41) to the second end of the first part (40) is at a distance from the frontal plane (A).

8. The robot (1) according to any one of the preceding claims, characterized in that, The means for stabilizing the platform (3) are configured to hold the platform (3) in a predetermined position relative to the ground, the predetermined position being a horizontal position.

9. The robot (1) according to any one of the preceding claims, characterized in that The at least one arm (5) has a distal segment (50) and a proximal segment (51), the distal segment (50) and the proximal segment (51) being connected by a pin joint or a ball-and-socket joint, the arm (5) being configured to be movable between a stretched position and a bent position, in the stretched position, the distal segment (50) and the proximal segment (51) being aligned, and in the bent position, the proximal segment (51) being tilted relative to the distal segment (50).

10. The robot (1) according to any one of the preceding claims, characterized in that, The robot (1) also has at least one gripper, the gripper being a hand (52), the gripper being connected to one end of the arm (5) by a pin joint or a ball-and-socket joint, the gripper having at least two fingers forming pincers, the gripper being configured to grip an object.

11. The robot (1) according to any one of the preceding claims, characterized in that, The upper part (6) of the robot (1) has at least one sensor configured to detect an object in the field of view facing the upper part (6).

12. The robot (1) according to any one of the preceding claims, characterized in that, The upper part (6) is connected to the first end of the second part (41) at least by a pin joint or a ball-and-socket joint.

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