Abstract: A housing for a plastic gearbox and associated plastic gearbox and a robot. The housing includes a body including an inner engaging portion circumferentially arranged on an inner surface of the body, the inner engaging portion adapted to be engaged with a transmission assembly of the plastic gearbox; and an adjusting mechanism arranged around the body and operable to squeeze the body inwardly to reduce an inner diameter of the body. By using the adjusting mechanism to squeeze the body of the housing inwardly, the fit error between the inner engaging portion and the transmission assembly can be compensated in an efficient way. Furthermore, the adjusting mechanism is a part of the housing and thus the body of the housing which is made of plastic does not need to be too thick, which makes injection molding easier and manufacturing precision improved.

Abstract: A moving robot and a controlling method thereof are disclosed. The moving robot includes a dust sensor that detects dust in air suctioned during cleaning, and a controller that performs control so that the robot performs cleaning while traveling over a traveling area distinguished into a plurality of regions. The controller stores, in the data unit, dust information detected by the dust sensor and a number of times of cleaning in each region. The controller also sets a cleaning region and a non-cleaning region based on cleaning data, which is calculated based on the dust information and the number of times of cleaning. This helps prevent cleaning from being repeated unnecessarily and allows for cleaning depending on the number of times of cleaning, despite a small amount of dust. Accordingly, an entire indoor area may be maintained in a constant clean state and cleaning efficiency may be enhanced.

Abstract: A method for deburring an aeronautical part with an articulated tooling including a plurality of axes of rotation, the aeronautical part including at least one edge to be deburred, the articulated tooling including a tool holder, holding a calibration tool and a machining tool, the calibration tool and the machining tool being fixed to the tool holder and being immovable relative to one another, the method including steps of calibrating the calibration tool and the machining tool, of parameterizing the aeronautical part, of deburring the at least one edge to be deburred with the machining tool moving along a predetermined trajectory, on the basis of the parameters obtained during the parameterization step.

Abstract: A flexible assembly system includes an industrial personal computer, a data collection card, a motion control card, a six-degree-of-freedom assembly platform, a first visual platform, a second visual platform and a supporting platform. The six-degree-of-freedom assembly platform includes a four-degree-of-freedom motion platform and a two-degree-of-freedom adjustment device, the two-degree-of-freedom adjustment device includes a two-degree-of-freedom motion platform and a clamping mechanism, and the clamping mechanism includes an outer frame, a flexible wrist rotatably connected in the outer frame, two clamping sheets mounted on the flexible wrist, two driving parts corresponding to the two clamping sheets, two first force sensors provided on the outer frame and two second force sensors provided on the flexible wrist; a first image collection apparatus is mounted on the first visual platform, and a second image collection apparatus is mounted on the second visual platform.

Abstract: A geometric model fitting based calibration process determines offsets between the actual tool center point and theoretical tool center point of a numerically controlled machining system, thereby enabling the system to apply compensation to the offsets in order to align the actual and theoretical tool positions.

Abstract: A robotic device includes an end effector device, a first sensor, and a controller. The end effector device includes two fingers for gripping a workpiece. The first sensor detects a pressure distribution on a gripping position on the workpiece by the two fingers. The controller performs, based on a temporal variation in the pressure distribution when the workpiece is lifted, posture control including rotation of the end effector device.

Abstract: A method for controlling a robot to perform a complex assembly task such as insertion of a component with multiple pins or pegs into a structure with multiple holes. The method uses an impedance controller including multiple reference centers with one set of gain factors. Only translational gain factors are used—one for a spring force and one for a damping force—and no rotational gains. The method computes spring-damping forces from reference center positions and velocities using the gain values, and measures contact force and torque with a sensor coupled between the robot arm and the component being manipulated. The computed spring-damping forces are then summed with the measured contact force and torque, to provide a resultant force and torque at the center of gravity of the component. A new component pose is then computed based on the resultant force and torque using impedance controller calculations.

Abstract: A robot control apparatus includes a processor that is configured to: receive first position information representing a first position in which a first operation including force control to be performed based on magnitude of a force detected by a force detector should be executed; determine an initial value of one of a mass coefficient and a viscosity coefficient that should be used in the force control of the first operation based on specific information on a configuration of a robot stored in a memory unit and the first position information; and store the initial value in the memory.

Abstract: A passive compliance gripper includes a passive compliance part, a displacement measuring element and a gripper mount. A first end of the passive compliance part is fixed, and a second end of the passive compliance part is configured to be transformed. The displacement measuring element is equipped to the passive compliance part, and measures displacement due to transformation of the passive compliance part. The gripper mount is connected to the second end of the passive compliance part, and has a gripper part gripping a component.

Abstract: An inverse-movement-type voice coil actuating apparatus includes a case structure, a stationary lens module, and a movable image sensing and focusing assembly. The case structure has a case. The lens module is assembled in the case to define an optical axis. The image sensing and focusing assembly is received in the case and moves back and forth along the optical axis with respect to the lens module to focus. Thus, the path of the back-and-forth movement of the image sensing and focusing assembly can be ensured to remain consistent with the optical axis and the lens can be pre-screwed without dropping the dust during the assembly process to further increase the production yield.

Abstract: A positioning system has at least one positioning carriage which is variably mobile and positionable relative to a carriage support of the positioning system, whilst carrying out a positioning movement on a positioning plane defined by an xy cartesian co-ordinate system. The carriage support has at least one stator arrangement having a winding arrangement with an x-winding section for providing a magnetic x-travelling field, which can be moved in the direction of the x-axis of the xy co-ordinate system, and a y-winding section for providing a magnetic y-travelling field, which can be moved in the direction of the y-axis of the xy co-ordinate system. The positioning carriage is provided with a coupling arrangement which, during the positioning movement, magnetically interacts simultaneously with the x-travelling field and the y-travelling field.

Abstract: A access detecting system comprises an access detector installed at an entrance of a work site including a robot or a machine and configured to detect entry or exit of an object to/from the entrance and to output a first control signal when the object approaches the entrance and a second control signal according to a value obtained by adding or subtracting a count of the entry and a count for the exit and a controller configured to power off, or stop a function of, the robot or the machine upon receiving the first control signal and to re-operate the robot or the machine.

Abstract: A method includes moving a sensor and an article at a first speed to position the sensor into a reference position relative to an article fixture. The sensor and the article are moved at a second speed as the sensor approaches the reference position. It is determined when the sensor is in the reference position, wherein the sensor is configured to be in the reference position when a contact is established between the sensor and a surface of the article fixture. The article is moved by a predetermined increment relative to the reference position to position the article in a target position in response to determining that the sensor is in the reference position.

Abstract: An apparatus includes a manipulator, a pneumatic actuator and a robot control. The pneumatic actuator is coupled to the manipulator such that the pneumatic actuator is arranged between the manipulator and an object to be positioned. The robot control is configured: to control the pneumatic actuator such that an actuator force of the pneumatic actuator approximately compensates a weight force of the object; and to monitor the actuator position of the pneumatic actuator and initiate safety measures when the actuator position exceeds a predefined value. Methods of operating the manipulator and the pneumatic actuator are also described.

Abstract: A haptic system with a haptic actuator and a voltage sensor coupled to the haptic actuator, to sense a voltage across the haptic actuator. The voltage across the haptic actuator has a back electromotive force component. There is a current regulator coupled to the haptic actuator and to the voltage sensor. The current regulator is adapted to provide a current signal to drive the haptic actuator and to adjust the current signal based on the back electromotive force component. For example, the voltage across the haptic actuator may be a direct voltage or a representation of the voltage such as a filtered value of the voltage.

Abstract: A target generating unit outputs a target value signal of a control target, and a position encoding processing unit outputs a position detection signal of the control target. A PID compensator calculates a control amount for causing the control target to follow a target position based on a difference signal between the target value signal and the position detection signal, and outputs it to an adding unit. A disturbance estimation observer outputs the result of estimation of disturbance to the adding unit. The adding unit adds the control amount output of the PID compensator to the output of the disturbance estimation observer to calculate a total control amount.

Abstract: The invention relates to a method for positioning, in particular for palletizing, objects. The method is carried out using a manipulator having an additional actuator which is arranged between the manipulator and the object to be positioned. According to one example of the invention, the method comprises the gripping of the object and the moving of the object, using the manipulator, at a start position in the proximity of a storage surface on which the object is to be positioned and deposited. The method furthermore comprises the moving of the object using the manipulator to the storage surface, wherein the actuator is actuated such that the actuating force compensates for the weight of the object, or wherein the actuator force is regulated such that an adjustable, minimal net actuator force acts on an end stop of the actuator (which can be zero in the limiting case). Furthermore, the excursion of the actuator is monitored and a change to the excursion is detected.

Abstract: A machine has at least one actuated mechanism is remotely located from a control station. A two way real-time communication link connects the machine location with the control station. A controller at the machine location has program code that is configured to determine from data from one or more sensors at the machine location if an actual fault has occurred in the machine when the machine is performing its predetermined function and to determine for an actual fault one or more types for the fault and transmit the one or more fault types to the control station for analysis. The code in the controller is configured to be a preprogrammed trap routine specific to the machine function that is automatically executed when an error in machine operation is detected at the machine location. The controller also has a default trap routine that is executed when the specific routine does not exist.

Abstract: A control apparatus 57 is a 2-input, 2-output integral-type optimal servo system in which intake air amount and intake oxygen concentration are used as control quantities (y1, y2) and the degree of opening of a control valve of an exhaust gas recirculation apparatus and the degree of opening of a control valve of a supercharger equipped with a variable flow rate mechanism are used as manipulated quantities (u1, u2), and includes an output feedback system. The control apparatus (57) is provided with an EGR valve opening degree unit (70) and an opening rate valve of the supercharger. Each of the control units includes a non-interference controller (64) for eliminating interference between the manipulated quantity for the control valve of the exhaust gas recirculation apparatus and the manipulated quantity for the control valve of the supercharger equipped with the variable flow rate mechanism.

Abstract: System for stabilizing a positioner of an equipment item, the positioner being oriented via an orientation command, and installed on a vehicle undergoing motions, the positioner including angular coders producing angular measurements and a set of gyrometric sensors producing measurements of rates of instantaneous rotation, and exhibiting biases, the positioner including a calculation unit with elements of intra-positioner slaving-correction of the instantaneous rates of rotation of the item using measurements and the orientation command to stabilize the item following the line of sight. The vehicle includes an element for measuring the attitude of the vehicle giving vehicle attitude measurements. The system includes calculation elements for controlling the positioner according to a control law to correct the biases by virtue of the vehicle attitude information and by implementing a state observer combining an estimation of attitude of an item and the measurements of rates of rotation of an item of equipment.

Abstract: An actuator control device includes an upper-level control unit that sets an upper-level target value of a predetermined control factor relating to driving an actuator, a lower level control unit, and an intermediate control unit. The lower-level control unit has a command input element that receives an input of the upper-level target value and outputs a lower-level target value of the predetermined control factor, an actuator control element that receives an input of the lower-level target value and controls the actuator, and a tracking element that causes an actual value of the predetermined control factor in the actuator to track the lower-level target value. The intermediate control unit causes the actual value of the predetermined control factor in the actuator to track the upper-level target value. The upper-level target value is inputted into the command input element of the lower-level control unit via the intermediate control unit.

Abstract: A system and a method for editing and controlling actions of a mobile robot allowing for the creation and modification of behaviors and of motions both according to an event logic and according to a time logic, the latter controlling the event logic and thus allowing for the synchronization of the behaviors and motions of different robot subassemblies. The system is organized in behavior and motion layers including action sequences and a timeline. The actions can be programmed in boxes interconnected by signals which convey information. The boxes are organized in a hierarchical structure, the lowest level of which comprises a script that can be interpreted by a virtual robot which simulates the execution of the commands and, where appropriate, by a physical robot. The motions of the robot can also be controlled graphically by motion screens.

Abstract: An industrial robot is used to assemble a part to a predetermined location on a randomly moving workpiece. The workpiece may be an automobile on an assembly line and the part may be a wheel (a tire mounted on a rim) to be assembled on one of the wheel hubs of the automobile. The robot has mounted on it a camera, a force sensor and a gripper to grip the part. After the robot grips the part, signals from both the force sensor and vision are used by a computing device to move the robot to a position where the robot can assemble the part to the predetermined location on the workpiece. The computing device can be the robot controller or a separate device such as a PC that is connected to the controller.

Abstract: The present invention provides a lithography system including an obtaining unit which obtains a transfer function describing a relationship between first vibration generated in one lithography apparatus of two lithography apparatuses among at least three lithography apparatuses, and second vibration generated in the other lithography apparatus upon transmission of the first vibration to the other lithography apparatus, and a calculator which calculates, based on the transfer function, an amount of vibration of a first lithography apparatus among the at least three lithography apparatuses due to vibration of lithography apparatuses, other than the first lithography apparatus, and a controller which controls the lithography apparatuses other than the first lithography apparatus, so that the amount of vibration calculated falls below a tolerance.

Abstract: The present relates to a system for providing vibration feedback to at least one foot. The system comprises at least one rigid surface for receiving the at least one foot, one vibrotactile actuator for each of the at least one rigid surface, and a suspension mechanism. The vibrotactile actuator is installed underneath the corresponding rigid surface and provides vibration feedback there through. The suspension mechanism supports the at least one rigid surface.

Abstract: A robot and a method of controlling the same are disclosed. The robot derives a maximum dynamic performance capability using a specification of an actuator of the robot. The control method includes forming a first bell-shaped velocity profile in response to a start time and an end time of a motion of the robot, calculating a value of an objective function having a limited condition according to the bell-shaped velocity profile, and driving a joint in response to a second bell-shaped velocity profile that minimizes the objective function having the limited condition.

Abstract: A robot mechanism for controlling the position of a machine tool in a large-scale manufacturing assembly includes six rotary axes and one linear axis. Secondary feedback systems are included on at least several of the axes. A controller receives secondary feedback information and uses it to control the position of the machine tool within an accuracy of ±0.3 mm.

Abstract: A machining time predicting apparatus of a numerically controlled machine tool divides a tool path into a plurality of segments, obtains a speed in a tangential direction of each of the divided segments, calculates a time taken for the tool to move on each segment, and obtains the total of the calculated times taken for the tool to move on each segment as a tool moving time, in order to calculate a time (tool moving time) taken for the tool to move on the designated tool path according to an NC command.

Abstract: This disclosure relates to enhanced control of user configurable devices, such as robots. One system may include a user-configurable device and an on-vehicle programmable controller coupled to the user-configurable device. This system may further include a wireless receiver coupled to the on-vehicle programmable controller via one signal wire, where a substantial portion of the receiver-controlled communications occur using the one signal wire. Another system may include (alternatively or in combination as appropriate) a user-configurable device including an on-vehicle programmable controller and a first tether port. The system may also include a remote control transmitter with at least one wireless output and a second tether port, where the transmitter is communicably coupled to the user-configurable remote control device.

Abstract: A hexapod robot device includes a main body and six legs coupled thereto. Each leg has a first connecting rod pivotally connected with the main body, a first driver electrically pivotally connected between the main body and the first connecting rod, with the first driver controllably driving the first connecting rod to move forward and backward along a longitudinal direction, a second connecting rod pivotally connected with the first connecting rod, and a second driver pivotally connected between the first connecting rod and the second connecting rod, with the second driver controllably driving the second connecting rod to move upward and downward along a vertical direction. The second connecting rod further has an end to engage with the ground.

Abstract: Methods of and a system for providing force information for a robotic surgical system. The method includes storing first kinematic position information and first actual position information for a first position of an end effector; moving the end effector via the robotic surgical system from the first position to a second position; storing second kinematic position information and second actual position information for the second position; and providing force information regarding force applied to the end effector at the second position utilizing the first actual position information, the second actual position information, the first kinematic position information, and the second kinematic position information. Visual force feedback is also provided via superimposing an estimated position of an end effector without force over an image of the actual position of the end effector. Similarly, tissue elasticity visual displays may be shown.

Abstract: The control device of the present invention applies only a damping to a vehicle if a load angular position is in the vicinity of a load angular position reference input. In the preferred embodiment, a control portion has a control switching unit and a switching linear torque unit. The switching linear torque unit calculates a damping torque and a linear feedback torque, the damping torque being obtained by applying a negative sign to a product of the load angular speed and the damping parameter, the linear feedback torque being obtained by multiplying at least one of a position tracking error, a speed tracking error, and an acceleration tracking error by a predetermined gain. The control switching unit switches and outputs the damping torque and the linear feedback torque. The control switching unit outputs the damping torque if the load angular position is in the vicinity of the load angular position reference input, and outputs the linear feedback torque otherwise.

Abstract: A feedback system for controlling a servo motor comprising at least one rotary angle sensor and at least one rotary speed sensor, wherein the rotary angle sensor supplies a measured rotary angle value to a computer, wherein the rotary speed sensor supplies a measured rotary speed value to the computer, the actual rotary speed values are the measured rotary angle values interpolated according to the integrated measured rotary speed values, and wherein at high rotary speeds, the actual rotary speed values are the calibrated measured rotary angle values, differentiated with respect to time, and at low rotary speeds, the actual rotary speed values are the measured rotary speed values.

Abstract: A finite state machine (FSM)-based biped robot, to which a limit cycle is applied to balance the robot right and left on a two-dimensional space, and a method of controlling balance of the robot. In order to balance an FSM-based biped robot right and left on a two-dimensional space, control angles to balance the robot according to states of the FSM-based biped robot are set. The range of the control angles is restricted to reduce the maximum right and left moving distance of the biped robot and thus to reduce the maximum right and left moving velocity of the biped robot, thereby reducing the sum total of the moments of the biped robot and thus allowing the ankles of the biped robot to balance the biped robot to be controlled, and causing the soles of the feet of the biped robot to parallel contact the ground.

Abstract: An finite state machine (FSM)-based biped walking robot, to which a limit cycle is applied to balance the robot right and left on a two-dimensional space, and a method of controlling balance of the robot. In order to balance an FSM-based biped walking robot right and left on a two-dimensional space, control angles to balance the robot according to states of the FSM-based biped walking robot are set, and the control angles are controlled using a sinusoidal function to allow relations between the control angles and control angular velocities to form a stable closed loop within a limit cycle, thereby allowing the biped walking robot to balance itself while changing its supporting foot and thus to safely walk without falling down.

Abstract: A main control process is made common to all machine tools by describing in a NC program a tool trajectory including a change in posture in a coordinate system (30) fixed to a machining object (W), fixedly arranging a preparatory reference coordinate system (20) on a machine table (2), representing an installation position of the machining object (W) and a position of a spindle (91) on which a tool (11) is mounted in the preparatory reference coordinate system (20), and containing portions relating to a configuration of axes in a conversion function group of correlation between the position (q) of the spindle (91) and an axis coordinate (r). Thus, the processes of reading the NC program, correction of the tool trajectory and conversion into the trajectory of a spindle position based on the installation position of the machining object, the tool shape, and tool dimensions are made completely common.

Abstract: A robotic surgery system for supporting a patient and a robotic surgical manipulator. The robotic surgery system includes a base, a pillar coupled to the base at a first end and extending vertically upward to an opposing second end, and an attachment structure coupled to the second end of the pillar. A patient table is coupled to the attachment structure. A robot support arm has a first end coupled to the attachment structure. The robot support arm extends vertically upward and then horizontally over the patient table. A robotic surgical manipulator supported by the horizontal portion of the robot support arm will extend generally downward from the robot support arm toward a patient supported by the patient table to place an end effector of the robotic surgical manipulator adjacent a desired surgical site on the patient.

Abstract: Methods of and a system for providing force information for a robotic surgical system. The method includes storing first kinematic position information and first actual position information for a first position of an end effector; moving the end effector via the robotic surgical system from the first position to a second position; storing second kinematic position information and second actual position information for the second position; and providing force information regarding force applied to the end effector at the second position utilizing the first actual position information, the second actual position information, the first kinematic position information, and the second kinematic position information. Visual force feedback is also provided via superimposing an estimated position of an end effector without force over an image of the actual position of the end effector. Similarly, tissue elasticity visual displays may be shown.

Abstract: The invention relates to methods and appropriate devices for safely, unequivocally and exclusively, temporarily assigning the command authority of an operator (1) to a controllable technical system (60) using a mobile control device (2) which is technically suitable for periodically controlling a plurality of controllable technical systems (60), which is equipped as standard with safety switch elements (38, 39) such as an emergency stop switch, ok key and operating mode selection switches and for a data coupling with the controllable technical system (60) in spite of having only normal transmission means (6) or network technologies without any particular features specific to safety function.

Abstract: A moving device is provided. A first receiving device receives an emitted light from a base station and obtains a direction from a start position, which the moving device is in to the base station according to the emitted light to serve as a target direction. A driving device drives the moving device to move in the target direction from the start position. When the moving device meets a first obstacle which is disposed along the target direction and in the target area, a second receiving device obtains a distance between the moving device and the base station according to the received emitted light to serve as a middle distance. When a determination device determines that the middle distance is not equal to a predetermined distance, the driving device drives the moving device to detour around the first obstacle and move in the target direction continuously.

Abstract: Systems, methods, and user interfaces are used for controlling a robot. An environment map and a robot designator are presented to a user. The user may place, move, and modify task designators on the environment map. The task designators indicate a position in the environment map and indicate a task for the robot to achieve. A control intermediary links task designators with robot instructions issued to the robot. The control intermediary analyzes a relative position between the task designators and the robot. The control intermediary uses the analysis to determine a task-oriented autonomy level for the robot and communicates target achievement information to the robot. The target achievement information may include instructions for directly guiding the robot if the task-oriented autonomy level indicates low robot initiative and may include instructions for directing the robot to determine a robot plan for achieving the task if the task-oriented autonomy level indicates high robot initiative.

Abstract: A method for the optimized movement co-ordination of measuring machines or machine tools having redundant axles having at translatory action, wherein the longer partial axles in each case permit a relatively slowly accelerated partial movement over a relatively large measuring or processing space and the shorter partial axles in each case essentially carry out the movement components of a total movement at a substantially altogether constant measuring or processing speed, which require an acceleration beyond a maximum set or stipulated for the respective longer partial axles, wherein, when approaching positions that in an undivided movement would otherwise not be attainable, the base axles correspondingly decelerate and can even come to a complete standstill, wherein by simultaneous displacement of the neutral starting point of the additional axles, the respective movement component of the base axles missing from the total movement is compensated.

Abstract: An improved cleaning robot that uses a simple structure to sense an obstacle is provided. The cleaning robot includes a robot main body comprising a driving unit to drive the cleaning robot, and a cleaning unit to remove dust, a bumper unit which is movably mounted in the robot main body to protect the robot main body from collision with an obstacle, a sensor unit which supports the bumper unit movably in a plurality of directions to sense the collision of the bumper unit and the obstacle, and a control unit which controls the driving unit on the basis of a signal sensed by the sensor to avoid the obstacle.

Abstract: A robot system includes a robot and a robot controller including a drive unit, a memory that stores an arm-occupied region and a movement-forbidden region, a target position calculation unit that outputs a target position of a tool or a workpiece, a movement-forbidden region entry monitoring unit that checks whether the arm-occupied region based on the target position enters the movement-forbidden region and outputs a stop request if it is checked that the arm-occupied region enters the movement-forbidden region, and a predicted-coasting-position calculating unit that calculates a predicted coasting position of each axis and a coasting position of the tool or the workpiece in the case that the robot is urgently stopped. The movement-forbidden region entry monitoring unit checks whether the arm-occupied region at the coasting position enters the movement-forbidden region and outputs another stop request if it is checked that the arm-occupied region enters the movement-forbidden region.

Abstract: Systems and methods are presented that enable a legged robot to maintain its balance when subjected to an unexpected force. In the reflex phase, the robot withstands the immediate effect of the force by yielding to it. In one embodiment, during the reflex phase, the control system determines an instruction that will cause the robot to perform a movement that generates a negative rate of change of the robot's angular momentum at its centroid in a magnitude large enough to compensate for the destabilizing effect of the force. In the recovery phase, the robot recovers its posture after having moved during the reflex phase. In one embodiment, the robot returns to a statically stable upright posture that maximizes the robot's potential energy. In one embodiment, during the recovery phase, the control system determines an instruction that will cause the robot to perform a movement that increases its potential energy.

Abstract: An operational space physical quantity calculation apparatus computes a physical quantity in an operational space describing a relationship between a force and acceleration acting on a link structure including a plurality of linked rigid bodies. The operational space physical quantity calculation apparatus includes a forward dynamics calculating unit configured to perform a forward dynamics calculation on the basis of force information about a force acting on the link structure in order to obtain accelerations occurring at certain points of the link structure and an operational space physical quantity computing unit configured to compute an inverse operational space inertia matrix and an operational space bias acceleration by causing the forward dynamics calculating unit to perform the forward dynamics calculation using a kinetic model of the link structure.

Abstract: The present invention may provide a method of generating a walking pattern for a humanoid robot. The method of generating the walking pattern for the humanoid includes determining a position of a next Zero Moment Point (ZMP) along a moving direction of the humanoid robot, obtaining a first condition for generating a walking pattern based on the determined ZMP by using a periodic step module, generating trajectories of a ZMP and a Center of Mass (CoM) in an initial step based on the first condition and an initial value obtained from an initial state of the humanoid robot by using a transient step module, generating trajectories of a ZMP and a CoM in a steady step based on the ZMP of two steps by using a steady step module, and generating trajectories of a ZMP and a CoM in a final step by using the transient step module.

Abstract: A servo-controlled system is disclosed for providing simulated feel equivalent to that of traditional mechanical hand controllers. Processed position and force sensor signals are used in a feedback loop that controls the motor mechanically connected to the stick. The feedback loop comprises a low-level motor feedback loop, and high-level force feel loop. The latter comprises static and dynamic performance components. The system allows variable and additional force cues to be specified externally to the system and felt by the operator, and/or external signal to backdrive the stick to follow a specified motion. The control framework permits the electronic coupling of the motion and applied forces by pilots in a dual arrangement while retaining the above-mentioned features. It simulates cross-coupling mechanical compliance due to force fight between pilots, detents and asymmetric force feel gradients. Parameters associated with loops and performance components can be specified independently.

Abstract: An apparatus includes a characterization module configured to receive data associated with operational characteristics of a mechanical device, the operational characteristics being associated with a perceptual experience of the mechanical device. A conversion module is coupled to the characterization module. The conversion module is configured to automatically produce, substantially without user intervention, a parametric data set associated with the mechanical device based on the data. In another embodiment, a method includes receiving data associated with operational characteristics of a mechanical device. The operational characteristics are associated with a perceptual experience of the mechanical device. A parametric data set associated with the mechanical device is produced automatically, without user intervention. The parametric data set is associated with the mechanical device based on the data.

Abstract: A metrology tool is arranged to measure a parameter of a substrate that has been provided with a pattern in a lithographic apparatus. The metrology tool includes a base frame, a substrate table, a sensor, a displacement system, a balance mass, and a bearing. The substrate table is constructed and arranged to hold the substrate. The sensor is constructed and arranged to measure a parameter of the substrate. The displacement system is configured to displace the substrate table or the sensor with respect to the other in a first direction. The bearing is configured to movably support the first balance mass so as to be substantially free to translate in a direction opposite of the first direction in order to counteract a displacement of the substrate table or sensor in the first direction.