# US 9,327,400 B2 · Control-command architecture for a mobile robot using articulated limbs > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,327,400 B2 - Document ID: US9327400B2 - Status: Granted - Kind: B2 - Application number: 12/736,456 - Filed: 2009-04-08 - Published: 2011-02-03 - Granted: 2016-05-03 - Earliest claimed: 2008-04-09 - Assignees: Aldebaran Robotics - Applicants: Julien Serre; Brice Marnier; Jerome Matard - Inventors: Julien Serre; Brice Marnier; Jerome Matard - Web page: https://patentgrep.com/patent/US9327400B2 ## CPC - B25J 9/161: {Hardware, e.g. neural networks, fuzzy logic, interfaces, processor} - G05B 19/4141: {characterised by a controller or microprocessor per axis} - G05B 19/4148: {characterised by using several processors for different functions, distributed (real-time) systems (G05B19/4141 takes precedence)} - G06N 3/008: based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour - G05B 2219/33212: Processor for communication with, evaluation of signals form detector to pc - G05B 2219/40304: Modular structure - G06F 11/1004: {to protect a block of data words, e.g. CRC or checksum (G06F11/1076 takes precedence; security arrangements for protecting computers or computer systems against unauthorized activity G06F21/00)} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) ## Abstract The present invention applies to a mobile robot which can have a human appearance and sophisticated functions enabling it to execute missions. To enable communications internal to the robot to be optimized and allow for a versatility that is both physical (possible substitution of parts of the robot) and software (replacement of programs to adapt it to new missions), an architecture with three computer levels is provided. The highest level comprises the intelligence of the robot which generates commands which are transmitted by an intermediate computer to low-level cards which control the sensors and actuators. Communication between the intermediate computer and the low-level cards is managed by at least one specific secure communication protocol. ## Claims ### Claim 1 A mobile robot having articulated limbs, the robot comprising: a plurality of subsets of sensors and actuators, each subset being controlled by an electronic card, wherein a control function for at least one of the electronic cards is distributed between at least a first computer and a second computer, said first and second computers are each unique and located on-board said robot, said first computer is distinct from said second computer and also distinct from said at least one of the electronic cards controlling a subset of sensors and actuators, and said first computer transmits to said at least one of the electronic cards, command messages for executing functions defined by the second computer and wherein communications between the first computer and the at least one of the electronic cards is managed by a secure protocol on at least one specific bus, said secure protocol including frames comprising, before bytes of a message, a byte containing at least a destination address and a most significant bit with a chosen value, and after the bytes of the message, at least one byte containing a size of the message and one byte containing a CRC. ### Claim 2 (depends on 1) The mobile robot of claim 1, wherein certain functions of the mobile robot are programmed in the first computer, said certain functions managing reflexes of the robot by determining commands for the actuators according to values of certain sensor state variables. ### Claim 3 (depends on 1) The mobile robot of claim 1, wherein certain configuration data of the mobile robot are stored in a memory managed by the first computer, and said configuration data comprises a list of electronic cards controlled, sensors and actuators commanded by said cards, and operating parameters of said sensors and actuators. ### Claim 4 (depends on 1) The mobile robot of claim 1, wherein the first computer manages an initialization procedure for at least one of the electronic cards of the robot. ### Claim 5 (depends on 1) The mobile robot of claim 1, further being configured so that the electronic cards of the robot can be replaced by an equivalent card without modifying the programming of either the first computer or the second computer. ### Claim 6 (depends on 1) The mobile robot of claim 1, further being configured so that the second computer can be replaced by another equivalent computer without modifying programming of the first computer. ### Claim 7 (depends on 1) The mobile robot of claim 1, wherein the bytes of all of the frames according to said secure protocol have a first byte at a value complementing a most significant bit of the address byte and the first byte in every seven bytes contains the seven most significant bits of the next seven bytes. ### Claim 8 (depends on 1) The mobile robot of claim 1, wherein said secure protocol includes a simulcast communication mode. ### Claim 9 (depends on 1) The mobile robot of claim 1, wherein the first computer and the at least one of the electronic cards that it controls are also connected by at least two communication lines, one of which is used to detect operation and the other to assign addresses to said electronic cards.