Humanoid robot with collision avoidance and trajectory recovery capabilities

A method for controlling a trajectory of at least one of upper and lower members of a humanoid robot, said method comprising:

• storing an initial trajectory with a target point in a memory of the robot;
• acquiring, from at least a sensing procedure controlled from on-board the robot, data representative of a position of one or more obstacles;
• and
• calculating, by a processor on-board the robot:
• an envelope of said robot, said envelope depending on a speed and a direction of the robot;
• a relative position of the envelope and the one or more obstacles;
• a probability of collision of the envelope with one of said one or more obstacles;
• and,
• a series of commands in order to:
• i) avoid collision of the envelope with said one of said one or more obstacles;
• and ii) at least one of rejoin the target point of the initial trajectory stored in memory within an initial timing, and preserve the general direction and content of an initial gesture, to change in at least one of space and time at least one of the trajectory or a speed of the at least one of upper and lower members of the robot.