Mobile robot having a spherical wheel and comprising an articulated trunk

Abstract

The present invention relates to a robot (1) capable of moving on the ground by means of a spherical wheel (2) suitable for rolling on the ground, the robot (1) comprising a trunk (4), at least one arm (5) and an upper part (6), the trunk (4) being connected to the platform (3) and to the upper part (6), characterised in that the robot (1) can move by tilting between a straight position and a tilted position, the trunk (4) of the robot (1) comprising a first portion (40) and a second portion (41), the trunk (4) being configured to maintain the position of the centre of mass (7) of the robot (1) so as to allow the robot (1) to tilt towards the ground.

Description

Robot with a mobile spherical wheel comprising an articulated trunk

[0001] The present invention relates to the field of robots, in particular humanoid robots. More specifically, the invention relates to a robot with a single spherical wheel whose trunk is movable, i.e. a trunk that can be tilted relative to the spherical wheel. STATE OF THE ART

[0002] Robots are known that have a single spherical wheel on which the entire robot rests. These types of robots are commonly called "Ballbots." These robots are mobile by means of the single spherical wheel, in all directions, in a stable manner.

[0003] In particular, robots with a single spherical wheel are known, each comprising a trunk, two arms and an upper part. The trunk is connected to the spherical wheel and is fixed relative to it, each arm is connected to the trunk by means of a pivot connection or by means of a ball joint connection so as to allow the mobility of each of the arms relative to the trunk and the upper part is connected to an upper portion of the trunk and is fixed relative to it. The upper part of the robot comprises at least one sensor configured so that the robot can locate itself in its environment. Such a robot is configured to move in all directions and to perform tasks by means of its arms, such as grasping objects. In this case, the arms are provided with grippers allowing the gripping of the objects to be grasped.

[0004] However, since it only has movable arms, such a robot can only perform tasks at arm height. In particular, it cannot perform tasks close to the ground. Therefore, such a robot is designed to perform a specific type of task at a specific height and cannot adapt to its environment.

[0005] Also known are so-called humanoid robots, i.e. robots whose shape resembles the human body and has two legs, a torso, two arms and a head. The legs have the same joints as human legs and are each connected to the torso by means of a pivot connection, the torso is connected to each of the arms by means of a ball joint or a pivot connection and the head is connected to the torso by means of a pivot connection. Each part is thus mobile relative to the others and such robots have a certain diversity of movements.

[0006] However, the legs have a multitude of mechanical parts and connections between each of them. This makes the manufacturing and use of the robot very complex.

[0007] Robots similar to the humanoid robots described above are also known, but they have a base on which at least three wheels are attached rather than a pair of legs. Thus, the robot is mobile in all directions thanks to the wheels, the base is connected to the trunk by means of a ball joint, the trunk is connected to each of the arms by means of a ball joint or a pivot connection, and the head is connected to the trunk by means of a pivot connection. Each part is thus mobile relative to the others, and such robots have a certain diversity of movements.

[0008] However, the wheels coupled to the base create a significant footprint, especially at ground level. Indeed, each of the wheels is a support point for the robot on the ground, so they must be spaced from each other on the ground, so as to allow the robot to remain stable in both static and moving positions. In particular, the wheel spacing is essential to prevent the robot from falling when the trunk tilts relative to the base, for example. Thus, such a robot is bulky and cannot be adapted to tight environments.

[0009] The present invention therefore aims to solve the aforementioned problems by proposing a robot comprising a single spherical movement wheel, in contact with the ground, on which the robot rests, a trunk, two arms and an upper part, in particular a robot whose trunk is mobile, that is to say a trunk which can be tilted relative to the spherical wheel, making it possible to adapt to its environment and interact with it. The robot according to the invention allows the accomplishment of various tasks, at different heights, while being compact and having a certain stability. PRESENTATION OF THE INVENTION

[0010] More specifically, the subject of the invention is a robot comprising a single spherical movement wheel intended to be in contact with the ground and a platform mounted on said spherical wheel by means of stabilization means, the robot being configured to be mobile on the ground by means of said spherical wheel adapted to roll on the ground, said robot comprising a trunk, at least one arm and an upper part, said trunk being connected on the one hand to said platform and on the other hand to the upper part, said arm being connected by means of at least one pivot connection or at least one ball joint connection to said trunk.The robot is movable in inclination between a straight position and an inclined position, said trunk of said robot comprising a first portion and a second portion, the first portion being connected by a first end to said platform at least by means of a pivot connection or a ball joint, the second portion being connected by a first end to the upper part and the first portion being connected by a second end to a second end of the second portion at least by means of a pivot connection or a ball joint, said trunk being configured to ensure the conservation of the position of the center of mass of the robot so as to allow the inclination of said robot towards said ground.

[0011] The first portion and the second portion allow the trunk and therefore the robot to be tilted. The tilt of its trunk allows the robot to have an adjustable gripping height. In addition, the robot is stable on the spherical wheel in both static and moving positions and in both upright and inclined positions. The robot can therefore tilt towards the ground to grasp and / or move objects in its environment while remaining stable and taking up little space. The robot is operational at variable heights and is therefore adaptable to its environment. Also, the robot can adapt to the load of the object to be moved and / or grasped. Indeed, the weight of the object can shift the center of mass, causing the robot to become instable. To maintain the robot's balance while carrying the object, the first portion and / or the second portion simply needs to pivot so as to re-center the center of mass.

[0012] Additionally, the tilt of the trunk increases the robot's field of vision and brings it closer to the movements performed by humans, which increases its accessibility.

[0013] According to a first embodiment, the first portion is connected by a first end to said platform by means of a pivot connection and in that the first portion is connected by a second end to a second end of the second portion by means of a pivot connection.

[0014] According to a second embodiment, the first portion is connected by a first end to said platform by means of a ball joint and in that the first portion is connected by a second end to a second end of the second portion by means of a ball joint.

[0015] Advantageously, in the upright position, the axis of the connection connecting the first end of the second portion to the upper part, the axis of the connection connecting the second end of the second portion to the second end of the first portion and the axis of the connection connecting the first end of the first portion to the platform are inscribed in a frontal plane of said robot and in that in the inclined position, at least the axis of the connection connecting the first end of the first portion to the platform is inscribed in said frontal plane of said robot, the axis of the connection connecting the second end of the second portion to the second end of the first portion being at a distance from said frontal plane, and the axis of the connection connecting the first end of the second portion to the upper part being inscribed in said frontal plane or at a distance from said frontal plane.

[0016] Thus, the trunk is inclined and the robot has an adjustable grip height, and the position of the center of mass is kept in the frontal plane A so as to maintain the balance of the robot. The robot is therefore tiltable and stable, while having a reduced footprint.

[0017] Advantageously, the robot comprises two arms, said arms, in an inclined position, extending on either side of a frontal plane of said robot or on the same side of said frontal plane.

[0018] The presence of one arm allows the gripping of objects and the presence of a plurality of arms allows the gripping of larger objects while maintaining the stability of the robot.

[0019] Preferably, in the inclined position the robot comprises two arms extending on the same side of the frontal plane and in that in said inclined position, the axis of the connection connecting the first end of the first portion to the platform is inscribed in said frontal plane of said robot and the axis of the connection connecting the second end of the second portion to the second end of the first portion and the axis of the connection connecting the first end of the second portion to the upper part are at a distance from said frontal plane.

[0020] Preferably again, in the inclined position the robot comprises two arms extending on either side of the frontal plane and in that in said inclined position, the axis of the connection connecting the first end of the first portion to the platform and the axis of the connection connecting the first end of the second portion to the upper part are inscribed in said frontal plane of said robot and the axis of the connection connecting the second end of the second portion to the second end of the first portion is at a distance from said frontal plane.

[0021] Advantageously, the platform stabilization means are configured to ensure that the platform is maintained in a predetermined position, in particular horizontal, relative to the ground.

[0022] Further advantageously, said at least one arm comprises a distal segment and a proximal segment, the distal segment and the proximal segment being connected by a pivot-type connection or a ball-and-socket connection, said arm being configured to be movable 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 comprises at least one gripper, in particular a hand, said gripper being connected by means of a pivot connection or a ball joint connection to one end of said arm, said gripper comprising at least two fingers forming a clamp, said gripper being configured to grip objects. PRESENTATION OF FIGURES

[0024] The invention will be better understood on reading the following description, given solely by way of example, and referring to the appended drawings given as non-limiting examples, in which identical references are given to similar objects and in which:

[0025] This is a schematic front view of the robot according to the invention, comprising a spherical displacement wheel and a platform mounted on the wheel, on which is mounted a trunk, an upper part, the trunk comprising a first and a second portion;

[0026] This is a view, taken from the right, of the robot, the robot being in an upright position;

[0027] The is a similar view to the, but the robot has arms arranged along the robot's trunk;

[0028] The view is similar to the, but with the robot in a tilted position;

[0029] This is a view similar to the, but with the robot in a tilted position, the arms being substantially along the trunk;

[0030] This is a similar view to the, but with the arms towards the front of the robot;

[0031] This is a similar view to the, but in a more inclined position;

[0032] This is a view similar to the, but with the arms towards the rear of the robot; and

[0033] This is a similar view to the, but in a more reclined position.

[0034] It should be noted that the figures set out the invention in detail to enable the invention to be implemented; although not limiting, said figures serve in particular to better define the invention where appropriate. DETAILED DESCRIPTION OF THE INVENTION

[0035] The invention relates to a robot 1 comprising a single spherical wheel 2 intended to be in contact with the ground and a platform 3 mounted on the spherical wheel 2 by means of stabilizing means. The robot 1 rests on the spherical wheel 2 by means of the platform 2. This type of robot 1 is commonly called a "Ballbot".

[0036] The robot 1 is mobile on the ground by means of the single spherical wheel 2, in all directions, in a stable manner.

[0037] The platform 3 is mounted on the spherical wheel 2, so that a lower part of the spherical wheel 2 is permanently in contact with the ground. In particular, the platform 3 comprises stabilizing means configured to allow the robot 1 to be held stably on the spherical wheel 2 when the robot 1 is in a static position but also when the robot 1 is in motion.

[0038] The stabilization means may for example comprise retaining members 30 at least partially surrounding the spherical wheel 2. Here, the stabilization means comprise three retaining members 30 distributed over the spherical wheel 2.

[0039] The stabilization means may further comprise at least one secondary wheel 31, here three secondary wheels 31 configured to rotate and allow the mobility of the spherical wheel 2 and / or the robot 1 to be maintained in a standing position shown in the figures when it is static.

[0040] In static position, the robot's platform 3 extends substantially parallel to the ground and the robot is inscribed in a frontal plane A, orthogonal to the ground.

[0041] To move, and thus trigger the rotation of the at least one secondary wheel 31 and therefore of the spherical wheel 2, the robot must tilt relative to the frontal plane A in the desired direction. Thus, the robot 1 can move in all directions, omnidirectionally.

[0042] The robot 1 comprises a trunk 4, at least one arm 5 and an upper part 6.

[0043] In particular, the trunk 4 is connected on the one hand to the platform 3 and on the other hand to the upper part 6.

[0044] The arm 5 is connected by means of a pivot or ball joint type connection to the trunk 4. The robot 1 may comprise a plurality of arms 5, here the robot 1 comprises two arms 5, each connected by means of a pivot or ball joint type connection to the trunk 4.

[0045] Furthermore, the robot according to the invention is movable in inclination between a straight position, shown in Figures 1 to 3, and an inclined position, shown in Figures 4 to 9.

[0046] The trunk 4 comprises a first portion 40 and a second portion 41. Each of the first and second portions 40, 41 comprises a first and a second end.

[0047] The first portion 40 is connected by its first end to the platform 3, by means of a pivot connection or a ball joint. The second portion 41 is connected by its first end to the upper part 6, by means of a pivot connection or a ball joint.

[0048] The second end of the first portion 40 is connected to the second end of the second portion 41 by means of a pivot connection or a ball joint.

[0049] According to an embodiment illustrated in the figures, the first portion 40 is connected by its first end to the platform 3 by means of a pivot connection, the first portion 40 is connected by its second end to the second end of the second portion 41 by means of a pivot connection and the first end of the second portion 41 is connected to the upper part 6, by means of a pivot connection.

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

[0051] It is possible to combine the two embodiments above, for example with the first portion 40 which is connected by its first end to the platform 3 by means of a ball joint, the first portion 40 which is connected by its second end to the second end of the second portion 41 by means of a pivot connection and the first end of the second portion 41 is connected to the upper part 6, by means of a ball joint. Another example, the first portion 40 can be connected by its first end to the platform 3 by means of a pivot connection, the first portion 40 can be connected by its second end to the second end of the second portion 41 by means of a ball joint and the first end of the second portion 41 is connected to the upper part 6, by means of a pivot connection.

[0052] In the upright position, as shown for example in Figures 1 and 2, the first portion 40 and the second portion 41 are inscribed in the frontal plane A of the robot 1.

[0053] In the inclined position, as shown for example in Figures 4 and 9, the first portion 40 and / or the second portion 41 are inclined relative to the frontal plane A of the robot 1.

[0054] The trunk 4 is configured to ensure the conservation of the position of the center of mass 7 of the robot 1, so as to allow the robot 1 to tilt towards the ground, while maintaining its balance.

[0055] The arm 5 comprises a distal segment 50 and a proximal segment 51 and a gripper, here a hand 52. The proximal segment 51 is on the one hand connected to the trunk 4 by means of a ball joint or a pivot connection, and on the other hand connected to the distal segment by means of a ball joint or a pivot connection. The distal segment 50 is connected on the other hand to the hand 52 by means of a pivot connection or a ball joint.

[0056] Here, the robot 1 comprises a plurality of arms 5. In such a case, each of the arms 5 comprises a distal segment 50 and a proximal segment 51 and a hand 52. The proximal segment 51 is on the one hand connected to the trunk 4 by means of a ball joint or a pivot connection, and on the other hand connected to the distal segment by means of a ball joint or a pivot connection. The distal segment 50 is itself connected on the other hand to the hand 52 by means of a pivot connection or a ball joint.

[0057] Each arm 5 is configured to be movable between a stretched position in which the distal segment and the proximal segment are aligned and a flexed position in which the proximal segment is inclined relative to the distal segment.

[0058] The gripper comprises at least two fingers forming a clamp, said gripper being configured to grip objects.

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

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

[0061] The upper part 6 of the robot 1 comprises at least one sensor, in particular a plurality of sensors and cameras, and it is configured to allow the robot 1 to perceive its environment and in particular to detect the objects to be grasped and / or moved arranged opposite the upper part, in its field of vision.

[0062] In a particular example of the invention, the upper part 6 may comprise an RBG camera and / or an IR camera and / or a stereoscopic depth camera and / or a microphone and / or “Time Of Flight laser” sensors.

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

[0064] In the upright and static position, shown in Figures 1 to 3, the axis of the connection connecting the first end of the second portion 41 to the upper part 6, the axis of the connection connecting the second end of the second portion 41 to the second end of the first portion 40 and the axis of the connection connecting the first end of the first portion 40 to the platform 3 are inscribed in the frontal plane A of the robot 1.

[0065] In this upright and static position, the robot and in particular its trunk 4 extends substantially along a vertical axis Y, the vertical axis being orthogonal to the ground.

[0066] As seen in the figure, the arms 5 extend in the vertical direction Y, along the trunk 4.

[0067] According to other examples not illustrated, the arms may extend away from the trunk, i.e. the arms may be inclined relative to the frontal plane A of the robot. When the robot has two arms, as is the case here, both arms may be inclined relative to the frontal plane A on the same side of said frontal plane A. It is also possible for both arms to be inclined relative to the frontal plane A, on either side of said frontal plane A.

[0068] In the upright and static position, the center of mass 7 is inscribed in the frontal plane A. The robot 1 is stable on the spherical wheel 2.

[0069] In motion, robot 1 tilts relative to the frontal plane A towards the desired direction. Thus, the center of mass 7 is displaced towards this same direction and is along the trunk 4. Robot 1 remains balanced by the movement of the spherical wheel 2.

[0070] In the inclined and static position, shown in Figures 4 to 9, at least the axis of the connection connecting the first end of the first portion 40 to the platform 3 is inscribed in the frontal plane A of the robot 1. The axis of the connection connecting the second end of the second portion 41 to the second end of the first portion 40 is at a distance from the frontal plane A. The axis of the connection connecting the first end of the second portion 41 to the upper part 6 may be inscribed in the frontal plane A or may be at a distance from the frontal plane A.

[0071] As shown in the, the axis of the connection connecting the first end of the first portion 40 to the platform 3 is inscribed in the frontal plane A of the robot 1, the axis of the connection connecting the second end of the second portion 41 to the second end of the first portion 40 is at a distance from the frontal plane A, towards the rear of the frontal plane A and the axis of the connection connecting the first end of the second portion 41 to the upper part 6 is inscribed in the frontal plane A.

[0072] The first portion 40 has pivoted around the axis of the pivot connection connecting the first portion 40 to the platform 3. The first portion 40 is inclined relative to the vertical direction Y. The second portion 41 has pivoted around the axis of the pivot connection connecting it to the first portion 40, in the opposite direction to the first portion 40.

[0073] In the inclined and static position, the center of mass 7 is inscribed in the frontal plane A. The robot 1 is stable on the spherical wheel 2.

[0074] As shown in the figure, the upper part 6 is oriented towards the ground, allowing the robot to have in its field of vision the objects which would be placed there.

[0075] As shown in the figure, the arms 5 of the robot 1 extend in the vertical direction Y. The center of mass 7 is then inscribed in the frontal plane A.

[0076] As shown in the, the arms 5 of the robot 1 extend forward of the frontal plane A, substantially parallel to the ground. In this position, the center of mass is displaced forward of the frontal plane A. To maintain the balance of the robot 1 and bring the center of mass 7 back into the frontal plane A, it is sufficient for the first portion 40 to pivot further toward the rear of the frontal plane A.

[0077] On the, the robot 1 is more inclined than on the. Indeed, the second portion 41 has pivoted more in the opposite direction to the pivoting direction of the first portion 40. The center of mass 7 has moved towards the front of the frontal plane A. To maintain the balance of the robot 1 and bring the center of mass 7 back into the frontal plane A, it is sufficient for the first portion 40 to pivot more towards the rear of the frontal plane A.

[0078] On the, the arms of the robot 1 extend towards the rear of the frontal plane A, substantially parallel to the ground. In this position the center of mass 7 moves towards the rear of the frontal plane A. To maintain the balance of the robot 1 and bring the center of mass back into the frontal plane A, it is sufficient for the second portion 41 to pivot further in the opposite direction to the direction of pivoting of the first portion 40.

[0079] In which is a view similar to except in that the robot is more inclined, the center of mass is inscribed in the frontal plane A, the robot 1 is balanced on the spherical wheel 2. In this position, the first portion 40 has pivoted further towards the rear of the frontal plane A and the second portion 41 has pivoted further in the opposite direction to the direction of pivoting of the first portion 40.

[0080] The robot 1 may be in an inclined position such as that shown in the for example and have the arms extending on either side of the frontal plane A. In this case, the center of mass 7 is inscribed in the frontal plane A and the robot 1 is balanced on the spherical wheel 2.

[0081] In particular, the axis of the connection connecting the first end of the first portion 40 to the platform 3 and the axis of the connection connecting the first end of the second portion 41 to the upper part 6 are inscribed in the frontal plane A of the robot 1 and the axis of the connection connecting the second end of the second portion 41 to the second end of the first portion 40 is at a distance from the frontal plane A, towards the rear thereof.

[0082] Thus, the robot 1 is stable on the spherical wheel 2 in both static and moving positions and in both upright and inclined positions. The robot 1 can therefore tilt towards the ground to grasp and / or move objects in its environment. The robot 1 is operational at variable heights and is therefore adaptable to its environment.

[0083] Also, the robot 1 can adapt to the load of the object to be moved and / or grasped. Indeed, the weight of the object can shift the center of mass, causing instability of the robot. To maintain the balance of the robot while carrying the object, it is sufficient for the first portion and / or the second portion to pivot so as to recenter the center of mass, in other words to inscribe it in the frontal plane A.

[0084] In a variant not shown in the figures, the robot's gripping area can be increased, in particular by increasing the length of the arms. Indeed, if the arms are extended, the robot can have access to the ground for example or even to distances further from its trunk.

[0085] The invention is not limited to the embodiments previously described but extends to any equivalent embodiment.

Claims

Robot (1) comprising a single spherical wheel (2) for movement intended to be in contact with the ground and a platform (3) mounted on said spherical wheel (2) by means of stabilizing means, the robot (1) being configured to be mobile on the ground by means of said spherical wheel (2) adapted to roll on the ground, said robot (1) comprising a trunk (4), at least one arm (5) and an upper part (6), said trunk (4) being connected on the one hand to said platform (3) and on the other hand to the upper part (6), said arm (5) being connected by means of at least one pivot connection or at least one ball joint connection to said trunk (4), characterized in that said robot (1) is mobile in inclination between a straight position and an inclined position, said trunk (4) of said robot (1) comprising a first portion (40) and a second portion (41),the first portion (40) being connected by a first end to said platform (3) at least by means of a pivot connection or a ball joint, the second portion (41) being connected by a first end to the upper part (6) and the first portion (40) being connected by a second end to a second end of the second portion (41) at least by means of a pivot connection or a ball joint, said trunk (4) being configured to ensure the conservation of the position of the center of mass (7) of the robot (1) so as to allow the inclination of said robot (1) towards said ground., Robot (1) according to the preceding claim, characterized in that the first portion (40) is connected by a first end to said platform (3) by means of a pivot connection and in that the first portion (40) is connected by a second end to a second end of the second portion (41) by means of a pivot connection. Robot (1) according to claim 1, characterized in that the first portion (40) is connected by a first end to said platform (3) by means of a ball joint and in that the first portion (40) is connected by a second end to a second end of the second portion (41) by means of a ball joint. Robot (1) according to any one of the preceding claims, characterized in that in the upright position, the axis of the connection connecting the first end of the second portion (41) to the upper part (6), the axis of the connection connecting the second end of the second portion (41) to the second end of the first portion (40) and the axis of the connection connecting the first end of the first portion (40) to the platform (3) are inscribed in a frontal plane (A) of said robot (1) and in that in the inclined position, at least the axis of the connection connecting the first end of the first portion (40) to the platform (3) is inscribed in said frontal plane (A) of said robot (1), the axis of the connection connecting the second end of the second portion (41) to the second end of the first portion (40) being at a distance from said frontal plane (A),and the axis of the connection connecting the first end of the second portion (41) to the upper part (6) being inscribed in said frontal plane (A) or at a distance from said frontal plane (A)., Robot (1) according to any one of the preceding claims, characterized in that it comprises two arms (5), said arms (5), in an inclined position, extending on either side of a frontal plane (A) of said robot (1) or on the same side of said frontal plane (A). Robot (1) according to the preceding claim, characterized in that in the inclined position the robot (1) comprises two arms (5) extending on the same side of the frontal plane (A) and in that in said inclined position, the axis of the connection connecting the first end of the first portion (40) to the platform (3) is inscribed in said frontal plane (A) of said robot (1) and the axis of the connection connecting the second end of the second portion (41) to the second end of the first portion (40) and the axis of the connection connecting the first end of the second portion (41) to the upper part (6) are at a distance from said frontal plane (A). Robot (1) according to claim 5, characterized in that in the inclined position the robot (1) comprises two arms (5) extending on either side of the frontal plane (A) and in that in said inclined position, the axis of the connection connecting the first end of the first portion (40) to the platform (3) and the axis of the connection connecting the first end of the second portion (41) to the upper part (6) are inscribed in said frontal plane (A) of said robot (1) and the axis of the connection connecting the second end of the second portion (41) to the second end of the first portion (40) is at a distance from said frontal plane (A). Robot (1) according to any one of the preceding claims, characterized in that the means for stabilizing the platform (3) are configured to ensure that the platform (3) is maintained in a predetermined position, in particular horizontal, relative to the ground. Robot (1) according to any one of the preceding claims, characterized in that said at least one arm (5) comprises a distal segment (50) and a proximal segment (51), the distal segment (50) and the proximal segment (51) being connected by a pivot-type connection or a ball-and-socket connection, said arm (5) being configured to be movable between a stretched position in which the distal segment (50) and the proximal segment (51) are aligned and a bent position in which the proximal segment (51) is inclined relative to the distal segment (50). Robot (1) according to any one of the preceding claims, characterized in that it further comprises at least one gripper, in particular a hand (52), said gripper being connected by means of a pivot connection or a ball joint connection to one end of said arm (5), said gripper comprising at least two fingers forming a clamp, said gripper being configured to ensure the gripping of objects. Robot (1) according to any one of the preceding claims, characterized in that the upper part (6) of said robot (1) comprises at least one sensor configured to detect objects in a field of vision opposite said upper part (6). 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 portion (41) at least by means of a pivot connection or a ball joint connection.

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