CONTROL-COMMAND ARCHITECTURE FOR A MOBILE ROBOT USING ARTICULATED LIMBS

摘要

The present invention relates to a mobile robot which can have a human appearance and elaborate functions enabling it to execute its missions. To allow optimization of the internal robot communications and versatility which is both physical (possible substitution of parts of the robot) and software (replacement of programs so as to adapt it to new missions), an architecture with three levels of computers is provided. The highest level comprises the intelligence of the robot which formulates commands which are transmitted by an intermediate computer to low-level cards which control the sensors and actuators. The communication between the intermediate computer and the low-level cards is managed by at least one specific secure communication protocol.