Control-command architecture for a mobile robot using articulated limbs

A method for controlling a mobile robot, the method comprising:

• transmitting a plurality of command steps for a plurality of subsets of sensors and actuators, wherein each said subset being controlled by an electronic card, wherein at least one of the plurality of command steps for subsets of sensors and actuators comprises a step of transmitting from a single first computer to at least one of the electronic cards command messages that are defined in a defining step that is executed on a second computer, wherein said single first computer and said single second computer are located on-board said robot and are separate and distinct from one another and from said electronic cards, said transmission being managed by a secure protocol on at least one specific bus, wherein said command messages are configured to cause said mobile robot to perform an action.

The method of claim 33, wherein the bytes of all of the frames according to said secure protocol having a first byte at a value complementing a most significant bit of the address byte and the first bytes of every seven bytes contains the seven most significant bits of the next seven bytes.