Behavioral programming method for robots in a robotic network architecture

Abstract

The invention relates to a method for behaviorally programming a robot (2) belonging to a robotic network architecture (1), using electronic tags (3). The robotic network architecture (1) comprises at least one robot (2) and at least one element (4). The electronic tags (3) belong to one of the following types: identification and action. The identification type includes subtypes, notably location, object, and person. The method comprises: associating (E1) an identification-type electronic tag (3) with an element (4) of the robotic network (1); coupling (E2) an identification-type electronic tag (3) with an action-type electronic tag (3); and activating (E3) an electronic tag (3) to trigger the robot (2) to perform an action (A) with respect to the element (4) associated with said identification-type electronic tag (3). Abstract: Figure 1

Description

Title of the invention: Method for behavioral programming of a robot in a robotic network architecture Technical field

[0001] The present invention relates to the field of robots, in particular humanoid robots and more specifically aims at a method of behavioral programming of such robots, in a robotic network architecture, by means of electronic labels, also referred to as "tags" or "runes" in the remainder of this document. STATE OF THE ART

[0002] Known from the state of the art is a humanoid robot evolving in a robotic network architecture, in particular a robot adopting a behavior predetermined by a computer program that the robot executes, to achieve a given result.

[0003] The structural characteristics of the robot are in accordance with the behavioral programming conferred on it, itself a function of the task that the robot must carry out. It is then common to “specialize” each robot in the robotic network to obtain the intended result with maximum efficiency. In certain cases, it may be necessary to adapt the environment of the robotic network in which the robot evolves, for example the objects with which the robot must interact according to its programming.

[0004] To overcome the structural constraints of the robot and in particular to avoid a “specialization” of the robots within the network, the applicant has developed, as described in document FR2212216, a robotic network architecture comprising a set of labels, in particular electronic labels, and at least one robot, in particular comprising at least one predefined gripper. The electronic labels are configured to be connected to an element of the robotic network and contain information identifying the element, as well as information allowing the location of the element and / or other information allowing the robot to determine the behavior to adopt with respect to the element.Using the information contained in the electronic label, the robot can in particular determine whether it has the possibility, in particular the capacity and / or the right, to grasp and / or manipulate and / or move, in particular by means of the predefined gripper, said element. The robot is configured to interact with any type of element comprising at least one electronic label and said robot comprises means for interpreting said identification information, as well as any other information. actually contained in the electronic label.

[0005] As is known, the behavior of such a robot can be modified when it is desired to modify the result obtained, for example by directly modifying the computer program executed by said robot. Such modifications of behavior then require specific skills, which may exceed the skills of a user or a group of users of the robotic network architecture.

[0006] In fact, the designer or supplier of the robotic network architecture to the user or user group is generally the only one with the skills or means required to modify the behavior of one or more robots within the robotic network architecture.

[0007] Such an operating model presents many significant disadvantages for the user. On the one hand, the latter is highly dependent on its supplier, particularly when the robot's behavior no longer corresponds to the need and the programming must be modified.

[0008] On the other hand, the development of new behavioral programming can be long and financially expensive, without the end users of the robot necessarily being involved in the development of this new behavioral programming. The risk of mismatch between the behavior of the robot and the need is then significantly increased.

[0009] The present invention therefore aims to solve the aforementioned problems by proposing a simplified and accessible method for programming the behavior of a robot. PRESENTATION OF THE INVENTION

[0010] More specifically, the subject of the invention is a method for behavioral programming of a robot belonging to a robotic network architecture, from electronic labels, the robotic network architecture comprising at least one robot and at least one element, the electronic labels belonging to a type among the identification and action types, the identification type comprising subtypes, in particular location, object and person, the method comprising: • the association of at least one electronic identification-type label with at least one element of the robotic network; • the coupling of at least one identification-type electronic label to at least one action-type electronic label; • the activation of at least one electronic label to cause the robot to perform an action with respect to the element associated with said electronic label of the identification type coupled to said electronic label action-type tronics.

[0011] Thanks to such a combination of characteristics, the programming of a given behavior by a user or a group of users of the robotic network is significantly simplified and does not require a computer development phase. Also, the user can then create in situ a new behavior of a given robot, in other words a new rule intended to generate a desired behavior of the robot in defined circumstances, without requiring major structural or software adaptation of the robot or the robot's environment.

[0012] The element of the robotic network with which the identification-type electronic tag is associated also comprises a subtype, in particular location, object or person. An electronic tag of a given subtype is preferably associated with an element of the same subtype. An electronic tag of the person subtype is associated with an element of the person subtype, such as a network user, with which the robot can interact. An electronic tag of the location subtype is associated with a location subtype element to which the robot can navigate. A tag of the object subtype is associated with an object subtype element that the robot can manipulate. The behavioral programming obtained through the method using these subtypes associated with an electronic tag can make it possible to carry out a large number of types of social logistics action.

[0013] Identification type electronic tags can be used to make information available to simplify the action of the robot and to accelerate its reaction time and to reduce the risk of reducing the risk of error, by reinforcing the principle of simplification of the programming of the invention. This simplification also has the advantage of reducing energy consumption across the entire network, making it possible to reduce the operating cost of such an infrastructure, as well as improving the autonomy of the robot. For example, an electronic tag of object subtype can include information on the left or right hand of the robot which must manipulate the object subtype element associated with said tag.

[0014] Advantageously, the coupling step corresponds to the definition or modification of a rule configured so that the robot interprets the activation of at least one electronic label to carry out a predefined action with respect to the element associated with said identification-type electronic label coupled to said action-type electronic label. In such a configuration, the possibilities of action can be widely extended.

[0015] An electronic label, in particular of the action type, can be associated with a reference number, for example a positive integer. Therefore, the electronic labels of the identification type are coupled to one or more labels of the action type to generate at least one or more complex actions with respect to one or of several elements.

[0016] Advantageously, the method comprises a step of decoupling at least one electronic label of identification type from at least one label of action type.

[0017] Advantageously, the association and coupling steps are carried out by means of instructions in natural language using a suitable interpretation system or by activation of a visual or tactile command, by means of a human-machine interface. The term "natural language" means a conversational language different from a computer programming language. In this configuration, any user can carry out an association or coupling step, for example by means of an oral or written instruction when the robot is nearby or remotely by means of a terminal connected to the electronic tags of the network.Furthermore, in natural language, when an electronic label has been associated with an element of the robotic network, said label is designated by extrapolation when an instruction mentions said element of the associated network, simplifying the formulation of an action or a rule for a user. Advantageously, the activation step can also be carried out via instructions in natural language.

[0018] Advantageously, the action-type electronic tag comprises a plurality of activation modes, among which the electronic tag is: pressed; shaken; moved; or upon arrival in proximity to the corresponding electronic tag, i.e. arrival at a distance less than a predefined activation distance, of an element associated with another identification-type electronic tag.

[0019] Advantageously, each given activation method of the action-type electronic tag corresponds to a predetermined action. In such a configuration, a single electronic tag is necessary to be associated with an element of the network and generate an action of the robot upon its activation.

[0020] Advantageously, an electronic label can be both of the identification type and of the action type.

[0021] Advantageously, the robot carries at least one electronic label of the identification type and / or of the action type.

[0022] Advantageously, an element of the robotic network is associated with at least two electronic labels, including at least one electronic label of the identification type.

[0023] Advantageously, an element of the network, in particular a user of the robotic network, is associated with an identification-type electronic label, the coupling of said user's electronic label to an action-type electronic label consisting of the creation of a rule, the activation of said action-type electronic label generating at least one action from among: • the manipulation by the robot of an element associated with an electronic label of identification type and object subtype; • the robot's navigation within the robotic network from a first point to a second point; • the response to a request.

[0024] According to another aspect of the invention, it relates to a system for behavioral programming of a robot in a robotic network, configured to implement the method as described above. Such a system may comprise at least one computer and at least one human-machine interface. PRESENTATION OF FIGURES

[0025] The invention will be better understood on reading the following description, given solely by way of example, and referring to the appended drawings given by way of non-limiting examples, in which identical references are given to similar objects and in which:

[0026] [Fig.l] is a schematic representation of a flowchart of the behavioral programming method according to a first embodiment of the invention;

[0027] [Fig.2] is a schematic representation of a flowchart of the behavioral programming method according to a second embodiment of the invention;

[0028] [Fig. 3] is a schematic representation of a flowchart of the behavioral programming method according to a third embodiment of the invention;

[0029] [Fig.4] is a schematic representation of a robotic network according to a first use case of the invention;

[0030] [Fig.5] is a schematic representation of a robotic network according to a second use case of the invention;

[0031] [Fig.6] is a schematic representation of a robotic network according to a third use case of the invention;

[0032] [Fig.7] is a schematic representation of a robotic network according to a fourth use case of the invention;

[0033] [Fig.8] is a schematic representation of a first example of robot behavior obtained by the behavioral programming method of the invention;

[0034] [Fig.9] is a schematic representation of a second example of robot behavior obtained by the behavioral programming method of the invention;

[0035] [Fig. 10] is a schematic representation of a third example of robot behavior obtained by the behavioral programming method of the invention;

[0036] [Fig. 11] is a schematic representation of a fourth example of robot behavior obtained by the behavioral programming method of the invention;

[0037] [Fig. 12] is a schematic representation of a fifth example of robot behavior obtained by the behavioral programming method of the invention;

[0038] [Fig. 13] is a schematic representation of a sixth example of robot behavior obtained by the behavioral programming method of the invention;

[0039] [Fig. 14] is a schematic representation of a seventh example of robot behavior obtained by the behavioral programming method of the invention;

[0040] [Fig. 15] is a schematic representation of an eighth example of robot behavior obtained by the behavioral programming method of the invention.

[0041] 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

[0042] The invention relates to a method for behavioral programming of a robot 2 belonging to a robotic network architecture 1, the method being implemented by a behavioral programming system. The behavioral programming of the robot 2 is carried out using electronic tags 3. The electronic tags 3 each comprise a capsule, a transmitting antenna and a battery, the transmitting antenna and the battery being housed in said capsule. The robot 2 comprises in particular a receiving antenna configured to communicate with said transmitting antenna of the electronic tags 3.

[0043] The electronic labels 3 may belong to a type among the identification and action types. An electronic label 3 of identification type also belongs to a subtype, in particular location, object or person.

[0044] The behavioral programming method includes in particular the following steps, as illustrated in [Fig.l]: • the association El of at least one electronic label 3 of identification type with at least one element 4 of the robotic network 1; • the coupling E2 of at least one electronic label 3 of identification type to at least one electronic label 3 of action type; • activation E3 of at least one electronic tag 3 to generate the rea carrying out an action A on the part of the robot 2 with respect to the element 4 associated with said electronic label 3 of identification type coupled to said electronic label 3 of action type.

[0045] Thanks to such a combination of characteristics, the programming of a given behavior by a user or a group of users of the robotic network 1 is significantly simplified and does not require a specific computer development phase for each behavior or each type of behavior. Also, the user can then create in situ a new behavior of a given robot 2, in other words a new rule intended to generate a desired behavior of the robot 2 in defined circumstances, without requiring major structural or software adaptation of the robot 2 or of the robot's environment.

[0046] The element 4 of the robotic network 1 with which the electronic label 3 of the identification type is associated also comprises a subtype, in particular location, object or person. An electronic label 3 of a given subtype is preferentially associated with an element of the same subtype. An electronic label 3 of the person subtype is associated with an element 4 of the person subtype, such as a user of the network 1, with which the robot 2 can interact. An electronic label 3 of the location subtype is associated with an element of the location subtype towards which the robot 2 can navigate. An electronic label 3 of the object subtype is associated with an object subtype element that the robot can manipulate.When element 4 is a person in the robotic network 1, the latter may or may not have the authorization to program the behavior of the robot, for example with an electronic tag type 3 of identification type and person subtype having corresponding rights.

[0047] The elements 4 associated with electronic labels 3 of identification type and object subtype, the robot being provided with a gripper so that the robot 2 can manipulate the element 4 whatever its shape. In this case, the electronic labels 3 can in particular be integrated into handles as described in document FR2212228. This gives the robot instantaneous information on the means by which the object can be manipulated, namely the handle. According to one embodiment, the electronic labels 3 associated with elements 4 of object subtype, in particular integrated into handles, further comprise additional information, with the aim of facilitating and making the manipulation of said objects by the robot faster and more efficient.In particular, an electronic label 3 of object subtype may include information on the left or right hand of the robot which must manipulate the element 4 of object subtype associated with said label. This information may be a function of the angle of arrival of the robot relative to the object, when said angle is available. Also, or alternatively, the electronic label 3. may also include information that the handle is arranged horizontally, or vertically, or inclined at a certain angle on the element 4 of subtype to be manipulated. Or, the electronic label 3 may include information that there is an obstruction on one side or the other of said element 4 of subtype object.

[0048] According to an embodiment of the programming method, the coupling step E2 corresponds to the definition E21 or the modification E21' of a rule configured so that the robot interprets the activation E3 of at least one electronic label 3, as illustrated in [Fig.2], to carry out a predefined action A with respect to the element associated with said electronic label 3 of identification type coupled to said electronic label 3 of action type. The predefined action A is in particular predefined according to the subtype of the electronic label of identification type coupled to the electronic label of action type 3 as described previously.

[0049] According to one embodiment of the programming method, the association E1 and coupling E2 steps are carried out by means of instructions E0 in natural language, for example by means of a suitable interpretation system or by visual activation on a touch screen, as illustrated in [Fig.2]. The term "natural language" means a conversational language other than a computer programming language. In this configuration, any user can carry out an association E1 or coupling E2 step, for example by means of an oral or written instruction E0 when the robot is nearby or remotely by means of a terminal connected to the electronic labels of the network.Furthermore, in natural language, when an electronic label 3 has been associated with an element 4 of the robotic network 1, said label 3 is designated by extrapolation when an instruction mentions said element 4 of the associated network, simplifying the formulation of an action A or a rule for a user. For example, if the element 4 associated with the electronic label 3 is a table, in a natural language instruction, the word "table" will be interpreted by the robot 2 as designating the electronic label 3 of identification type and object subtype associated with the element 4 which is a table.

[0050] Depending on the situations, it is possible that several behaviors are programmed simultaneously for the same robot 2. In such a configuration, the robot 2 carries out in particular the actions A by following a hierarchy predefined by the users of the network 1, particularly in the case where the behaviors are incompatible with each other.

[0051] The remainder of the description focuses on describing different use cases exploiting the behavioral programming method, in particular according to different configurations of the robotic network 1 as illustrated in Figures 4 to 7.

[0052] [Fig.4] illustrates the robotic network 1 according to a first use case. Here, the robotic network 1 is a professional premises of a company. Each employee of the company is an element 4 of the person subtype of the robotic network 1. The association step El is for example carried out upon the arrival of the employee at the premises, the employee keeping the associated electronic label 3 on him at all times. To distribute a parcel received by a receptionist of the company, said receptionist carries out an association El of an electronic label 3 of identification type and of object subtype to the element 4 parcel of object subtype. Then, the receptionist carries out the coupling E2 of an electronic label 3 of action type to the electronic label 3 associated with the parcel, for example by stating a rule in natural language. The rule or instruction can for example be stated as follows: "Take the parcel to Mr. X".The receptionist then performs the activation E3 of the electronic label 3 of the coupled action type, either when the coupling E2 is completed and the rule is stated, or by manual activation of the electronic label 3, for example by pressing the capsule of the electronic label 3 of the action type. Other examples of activation E3 of the electronic label 3 are described below. The robot 2 then performs the action corresponding to the stated rule, which can for example be broken down as follows: . • confirm correct understanding of the rule; • handle the package using the gripper; • navigate within the company premises; • deliver the package to its recipient.

[0053] [Fig. 5] illustrates the robotic network 1 according to a second use case. Here, the robotic network 1 is a shopping mall, in particular a food court comprising a plurality of restaurants. When a customer orders a food product from one of the restaurants, the server of said restaurant performs the association E1 of an electronic label 3 of identification type and person subtype with the customer element 4 of person subtype. When the food product is ready to be served, the server places it on a tray already provided and associated with an electronic label of identification type and object subtype. Then, the server performs the coupling E2 of an electronic label 3 of action type with the electronic label 3 associated with the customer, for example by stating a rule in natural language: “Take the order to customer X”.The server then performs the activation E3 of the electronic label 3 of the coupled action type, either when the coupling E2 is finished and the rule is stated, or by manual activation of the electronic label 3 as described above. The robot 2 then performs the action A corresponding to the stated rule, which can for example be broken down as follows: • manipulate the tray via the gripper; . • navigate the food court to the associated customer's table; • serve the tray to the associated customer.

[0054] Not exclusively for this use case, the coupled action type electronic label 3 may be the identification type electronic label 3, so that only one capsule is required. An electronic label may advantageously be of the identification type and of the action type.

[0055] [Fig.6] illustrates the robotic network 1 according to a third use case. Here, the robotic network 1 is a hospital. At the time of taking treatment for a patient staying in a room of the hospital, the nurse performs the association E1 of an electronic label 3 of identification type and location subtype with the room element 4 of location subtype.

[0056] The nurse places the treatment on a tray already equipped and associated with an electronic label 3 of identification type and object subtype. Then, the nurse performs the coupling E2 of an electronic label 3 of action type to the electronic label 3 associated with the room, for example by stating a rule in natural language: “Take the treatment to room X and come back to confirm that the treatment has been taken”. The nurse then performs the activation E3 of the coupled action type electronic label 3, either when the coupling E2 is finished and the rule is stated, or by manual activation of the electronic label 3 as described above. The robot 2 then performs the action A corresponding to the stated rule, which can for example be broken down as follows: • manipulate the tray using the gripper; • navigate the hospital; • provide treatment to the associated patient; • return to the nurse to confirm that the treatment has been taken.

[0057] Naturally in this use case, it is understood that the nurse is an element 4 of the robotic network 1 of subtype person, and that he has an electronic label 3 of type identification and subtype person, so that the robot 2 can interpret the rule stated during the coupling E2. The electronic label 3 of type action has then been coupled not only to the electronic label 3 of the room, but also to the electronic label 3 associated with the nurse.

[0058] [Fig.7] illustrates the robotic network 1 according to a fourth use case. Here, the robotic network 1 is a hotel. When a customer arrives at the hotel reception, the receptionist performs the association E1 of an electronic label 3 of identification type and person subtype to the customer element 4 of person subtype. Then, the receptionist performs the coupling E2 of an electronic label 3 of action type to the electronic label 3 associated with the customer as well as to an identification type label associated with a room element 4, for example by stating a rule in natural language: “Guide customer X to his room Y”. The server then performs activation E3 of the electronic label 3 of the coupled action type, either when the coupling E2 is completed and the rule is stated, or by manual activation of the electronic label 3 as described above. The robot 2 then performs the action A corresponding to the stated rule.

[0059] The remainder of the description focuses on describing different behaviors of robot 2, obtained by the behavioral programming method of the invention. Depending on the desired behaviors, an electronic tag 3 can advantageously be both of the identification type and of the action type, which makes it possible to limit the number of electronic tags 3 required, in particular when the association E1 is made with an element 4 of the location subtype.

[0060] [Fig.8] illustrates in particular the navigation of the robot 2 within the network 1, by successive coupling E2 of an action-type electronic tag 3 to identification-type and location-subtype electronic tags 3. In the case of navigation to a location, the capsules of the electronic tags 3 comprise in particular Bluetooth chips meeting the 5.1 standard or higher and comprising a direction-finding function making it possible to determine an angle of arrival relative to another electronic tag 3 whose capsule comprises a Bluetooth chip meeting the 5.1 standard or higher and comprising a compatible direction-finding function. Activation E3 is for example carried out when the action-type electronic tag 3 is at a distance less than a predefined activation distance from a coupled identification-type electronic tag 3.

[0061] [Fig.9] illustrates in particular another action A of the robot 2 within the network 1, by coupling E2 of an electronic tag 3 of the action type to an electronic tag 3 of the identification type. Here, the action generated during activation E3 is a restriction, that is to say the definition of a path in which the robot 2 cannot circulate, for example so as not to enter a stairwell which could cause the robot 2 to fall, or the definition of a particular zone in which the presence of the robot is prohibited.

[0062] [Fig. 10] illustrates in particular another action A of the robot 2 within the network 1, by coupling E2 of an electronic tag 3 of action type to two electronic tags 3 of identification type. Here, the action generated during the action E3 is a manipulation, that is to say the grasping of an element 4 of object subtype, in particular a tray comprising two grippers containing the electronic tags of identification type. Advantageously, the two electronic tags 3 of identification type can include information on the left or right hand of the robot 2 which must manipulate the element of object subtype associated with said electronic tag 3.

[0063] [Fig. 11] illustrates in particular another action A of the robot 2 within the network 1, by coupling E2 of an electronic tag 3 of the action type to an electronic tag 3 of the identification type. Here, the action A generated during the activation E3 is a manipulation, in particular after the identification of a reception zone in which the robot 2 must deposit a previously manipulated object as illustrated in [Fig. 10], by locating the electronic tag 3 of said reception zone. The electronic tag 3 of the reception zone of the object can advantageously comprise information on the preferential orientation that the robot 2 must give to the manipulated object during the deposit in the reception zone. In such a configuration, the action A of the robot is significantly accelerated and the risk of manipulation error is reduced, while reinforcing the principle of simplification of the programming of the invention.This simplification also has the advantage of reducing energy consumption across the entire network, reducing the operating cost of such an infrastructure, as well as improving the robot's autonomy.

[0064] [Fig. 12] illustrates in particular another action A of the robot 2 within the network 1, by coupling E2 of an electronic tag 3 of action type to an electronic tag 3 of identification type. Here, the coupling E2 has been previously carried out, and the activation E3 is carried out by means of a voice command in natural language from a person corresponding to an element 4 of the network. The action A generated is the execution of a personalized audio track as a function of the coupled electronic tag 3, in particular as a function of the element 4 with which the electronic tag 3 is associated, for example to greet it in return for a greeting.

[0065] In some cases, there may be a hierarchy between several stated rules, as illustrated in [Fig. 13]. Here, the activation E3 of the electronic label 3 of the location subtype associated with the zone and coupled according to a rule formulated for example in the following way: "No noise in this zone"; takes priority over the activation E3 of the electronic label 3 of the person subtype associated with the element 4 person and whose generated action A would be that described in [Fig. 12]. This action is then not carried out.

[0066] [Fig. 14] illustrates in particular another action A of the robot 2 within the network 1, by coupling E2 of an electronic tag 3 of the action type to an electronic tag 3 of the identification type. Here the action A generated during the activation E3 is a navigation, for example following the enunciation of a rule during the coupling E2 with the electronic tag 3 of the person subtype of the associated element 4, in the following manner: “Follow me”.

[0067] [Fig. 15] illustrates in particular another action A of the robot 2 within the network 1, by coupling E2 of an electronic tag 3 of the action type to an electronic tag 3 of the identification type. Here, the action A generated during activation E3 is a dance of robot 2. Activation E3 is also carried out when robot 2 enters the range of electronic tag 3 of location subtype.

[0068] A single action-type electronic tag 3 can be activated in several different ways. In particular and advantageously, when an action-type electronic tag 3 is coupled to several identification-type electronic tags 3, each activation method can correspond to a given coupled identification-type electronic tag 3. The electronic tag 3 can, for example, be pressed, shaken or moved.

[0069] The behavioral programming obtained by means of the method of the invention, in particular using electronic labels of the identification type and having the subtypes described, can make it possible to carry out any type of social logistics action A, from simplistic algorithmic instructions and not requiring software development skills.

[0070] Advantageously, the robotic network 1 comprises at least one electronic tag 3 of identification type and administrator subtype. The element 4 with which such an electronic tag 3 is associated has specific authorizations within the robotic network 1, for example the possibility of consulting the robot 2 to check the data in its possession, the rules currently known. Such a user thus has the necessary authorization, in particular in the event of a malfunction requiring a higher degree of software development skill.

[0071] It will also be noted that the invention is not limited to the embodiments described above. It will indeed appear to those skilled in the art that various modifications can be made to the embodiment described above, in light of the teaching which has just been disclosed to them.

[0072] In the detailed presentation of the invention which is made above, the terms used must not be interpreted as limiting the invention to the embodiment set out in the present description, but must be interpreted to include all equivalents whose prediction is within the reach of a person skilled in the art by applying his general knowledge to the implementation of the teaching which has just been disclosed to him.

Claims

Claims

1. Method for behavioral programming of a robot (2) belonging to a robotic network architecture (1), from electronic labels (3), the robotic network architecture (1) comprising at least one robot (2) and at least one element (4), the electronic labels (3) belonging to one type among the identification and action types, the identification type comprising subtypes, in particular location, object and person, the method comprising: • the association (El) of at least one electronic label (3) of identification type with at least one element (4) of the robotic network (1); • the coupling (E2) of at least one electronic label (3) of identification type with at least one electronic label (3) of action type;• the activation (E3) of at least one electronic label (3) to cause the robot (2) to carry out an action (A) with respect to the element (4) associated with said electronic label (3) of identification type coupled to said electronic label (3) of action type.;

2. Method according to claim 1, in which the coupling step (E2) corresponds to the definition (E21) or modification (E2E) of a rule configured so that the robot (2) interprets the activation (E3) of at least one electronic label (3) to carry out a predefined action (A) with respect to the element (4) associated with said electronic label (3) of identification type coupled to said electronic label (3) of action type.

3. Method according to one of claims 1 to 2, in which the association (El) and coupling (E2) steps are carried out by means of instructions in natural language (EO) by means of a suitable interpretation system or by activation of a visual or tactile command, by means of a human-machine interface.

4. Method according to one of the preceding claims, wherein the action-type electronic tag (3) comprises a plurality of activation modes, among which the electronic tag (3) is: pressed; shaken; moved or upon arrival in proximity to the corresponding electronic tag (3), i.e. arrival at a distance less than a predefined activation distance, of an element (4) associated with another electronic label (3) of identification type.

5. Method according to the preceding claim, in which each given activation method of the electronic tag (3) of action type corresponds to a predetermined action (A).

6. Method according to one of the preceding claims, in which an electronic label (3) can be both of identification type and of action type.

7. Method according to one of the preceding claims, in which an element (4) of the robotic network (1) is associated with at least two electronic labels (3) including at least one electronic label (3) of the identification type.

8. Method according to one of the preceding claims, in which an element (4) of the network (1), in particular a user of the robotic network (1) is associated with an electronic label (3) of identification type, the coupling of said electronic label (3) of the user to an electronic label (3) of action type consisting of the creation of a rule, the activation of said electronic label (3) of action type generating at least one action (A) among: • the manipulation by the robot (2) of an element (4) associated with an electronic label (3) of identification type and of object subtype; • the navigation of the robot (2) within the robotic network (1) from a first point to a second point; • the response to a request.

9. System for behavioral programming of a robot (2) in a robotic network (1), configured to implement the method according to one of the preceding claims.

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