Abstract: A robotic system includes a support structure, a motor mount assembly, first and second parallel chains, a serial translation assembly, a sensor and a control module. The motor mount assembly includes rotary motors, where the rotary motors include a first rotary motor and a second rotary motor. The first and second parallel chains are connected to the movable platform, the rotary motors and the motor mount assembly. The serial translation assembly is connected to the supporting structure and the motor mount assembly and includes a linear actuator and a third rotary motor. The sensor is connected to the movable platform and detects force applied by a human operator on the movable platform and generates a signal indicative of the force applied. The control module controls the rotary motors and the third rotary motor based on the signal to assist the human operator in moving the movable platform.

Abstract: It is possible to effectively prevent lowering of work efficiency while stabilizing an operation of a robot or the like. A torque estimation system estimates friction torque of a rotation mechanism. The torque estimation system inclues angular velocity detecting means for detecting an angular velocity of the rotation mechanism, and limit value setting means for setting an upper limit value and a lower limit value according to the angular velocity of the rotation mechanism detected by the angular velocity detection means, the upper limit value and the lower limit value limiting an upper limit and a lower limit, respectively, of the friction torque of the estimated friction torque.

Abstract: Systems and methods for determining a level of collaboration between a user and an exoskeleton boot are provided. A device, using an exoskeleton boot, can provide a level of force to a limb of a user to aid movement of the limb. The device can measure one or more parameters of the exoskeleton boot during the movement of the limb using the exoskeleton boot. The device can determine one or more biometrics of the user during the movement of the limb using the exoskeleton boot. The device can determine, based on the one or more biometrics and the one or more parameters of the device, a metric indicative of a collaboration between the user and the exoskeleton boot during the movement.

Abstract: A method for examining a robot apparatus which includes a driving source configured to drive a joint, the position and orientation of which are controlled based on trajectory data determined in advance for a normal motion. The examination method includes generating examination motion data for driving a joint as an examination target under a driving speed that causes the examination target joint to resonate and causing the examination target joint to pass through a path based on the trajectory data. A resonance amplitude of the joint is acquired based on the examination motion data.

Abstract: A passive end effector of a surgical system includes a base, a first mechanism, and a second mechanism. The base attaches to an end effector coupler of a robot arm positioned by a surgical robot. The first mechanism extends between a rotatable connection to the base and a rotatable connection to a tool attachment mechanism. The second mechanism extends between a rotatable connection to the base and a rotatable connection to the tool attachment mechanism. The first and second mechanisms pivot about the rotatable connections to constrain movement of the tool attachment mechanism to a range of movement within a working plane. The tool attachment mechanism is configured to connect to a surgical saw including a saw blade for cutting.

Abstract: A surgical system includes a robotic arm, an end effector held by the robotic arm, a tracking system configured to detect a patient position and an end effector position, and a processor and non-transitory memory storing instructions that, when executed by the processor, cause the processor to define a planned trajectory relative to the patient position, obtain the patient position and the end effector position from the tracking system during manual movement of the end effector by a user, determine whether the end effector position is within a threshold of the planned trajectory based on the patient position and the end effector position obtained during the manual movement of the end effector, and upon determination that the end effector position is within the threshold of the planned trajectory, take over and control the robotic arm to automatically align the end effector with the planned trajectory.

Abstract: The present invention generally relates to a system and method for fine motor control of fingers on a prosthetic hand. In particular, the present disclosure describes a system and method for controlling the flexion or extension of one or more fingers of a prosthetic hand to reproduce a natural stroke such as for, e.g., writing, painting, brushing teeth, or eating. The systems and methods described herein use electromyographic (EMG) signals and, more particularly, combinations of electromyographic signals, from muscles in the forearm to activate one or more motors of the prosthetic hand that control the motion of the prosthetic fingers. The electromyographic signals may be used to cause fingers of a prosthetic hand to, for example, imitate a writing stroke while the fingers of the prosthetic hand hold a writing utensil. Additionally, the present invention describes electrode placement locations that maximize peak signal detected while maintaining a low base-line signal.

Abstract: A robot system includes a manipulating force detector configured to detect a manipulating force given to an operation end by an operator, a reaction-force detector configured to detect a reaction force given to a work end or a workpiece held by the work end, a system controller configured to generate an operating command of a master arm and generate an operating command of a slave arm based on the manipulating force and the reaction force, a master-side control part configured to control the master arm, and a slave-side control part configured to control the slave arm. The system controller has an exaggerated expresser configured to exaggeratedly present an operating feel to the operator who operates the operation end in a reaction-force sudden change state that is a state in which the reaction force changes rapidly with time.

Abstract: Certain aspects relate to systems and techniques for surgical robotic arm admittance control. In one aspect, there is provided a system including a robotic arm and a processor. The processor may be configured to determine a force at a reference point on the robotic arm based on an output of a torque sensor and receive an indication of a direction of movement of the reference point. The processor may also determine that a component of the force is in the same direction as the direction of movement of the reference point, generate at least one parameter indicative of a target resistance to movement of the robotic arm, and control the motor, based on the at least one parameter, to move the robotic arm in accordance with the target resistance.

Abstract: A system and apparatus that performs a capture of human motion and location in order to relay the mechanics of joint and body movement to virtual- and augmented-reality based environments. Collected data and measurements using sensors that can be analyzed and sorted. The sensors can be used to passively collect data or can be used to provide data into a feedback loop to drive other systems.

Abstract: Systems and methods for determining a level of collaboration between a user and an exoskeleton boot are provided. A device, using an exoskeleton boot, can provide a level of force to a limb of a user to aid movement of the limb. The device can measure one or more parameters of the exoskeleton boot during the movement of the limb using the exoskeleton boot. The device can determine one or more biometrics of the user during the movement of the limb using the exoskeleton boot. The device can determine, based on the one or more biometrics and the one or more parameters of the device, a metric indicative of a collaboration between the user and the exoskeleton boot during the movement.

Abstract: Embodiments of the present disclosure relate to automatic guide vehicles (AGVs) that are capable of interacting with human operators. Particularly, the AGVs can follow a human operator, lead a human operator, and receive and react to gestures from a human operator. The AGVs switches directions of moving to provide human operators with easy access to components of user interface on the AGVs. The AGVs are also capable of avoiding collision with other AGVs by yielding to AGVs with a higher priority level.

Abstract: A robot control device includes a log acquisitor, a first adjuster, and a second adjuster. The log acquisitor is configured to acquire operation data of a robot arm which has been operated by making a target portion of the robot arm follow a predefined target path under a feedback control. The first adjuster is configured to adjust, based on the operation data acquired by the log acquisitor, a first physical parameter for calculating a trajectory of the target portion, to reduce errors between the predefined target path and positions of the target portion. The second adjuster is configured to calculate, based on the first physical parameter adjusted by the first adjuster, the trajectory of the target portion, the second adjuster that is configured to adjust, based on the trajectory calculated by the second adjuster, a second physical parameter to be used for a feed-forward control for controlling the robot arm.

Abstract: A system for holding and controlling medical instruments during procedures includes an end effector configured to hold a medical instrument and a rotational and translational (RT) mechanism configured to rotate and translate the medical instrument along an insertion axis. The system further includes a platform coupled to the RT mechanism and a pair of parallel five-bar planar linkages configured to translate, pitch, and yaw the platform with respect to a principal axis that is parallel to the insertion axis.

Abstract: Provided is an inspection system that can reduce the burden of inspecting a detector provided on a transport vehicle that travels on a preset transport path. An inspection system 1 includes a projection surface 5F that is disposed at a position located within a detection range IE of a detector 3 in a state in which a transport vehicle 2 is present at an inspection location IP set on a transport path R, and onto which detection light IL projected by the detector 3 is projected, an image capturing device C that captures an image of the projection surface 5F, and a determination unit that determines at least one state selected from a position, a shape, and a light intensity of the detection light IL projected onto the projection surface 5F, based on an image captured by the image capturing device C.

Abstract: A robot control device includes a log acquisitor, a first adjuster, and a second adjuster. The log acquisitor is configured to acquire operation data of a robot arm which has been operated by making a target portion of the robot arm follow a predefined target path under a feedback control. The first adjuster is configured to adjust, based on the operation data acquired by the log acquisitor, a first physical parameter for calculating a trajectory of the target portion, to reduce errors between the predefined target path and positions of the target portion. The second adjuster is configured to calculate, based on the first physical parameter adjusted by the first adjuster, the trajectory of the target portion, the second adjuster that is configured to adjust, based on the trajectory calculated by the second adjuster, a second physical parameter to be used for a feed-forward control for controlling the robot arm.

Abstract: A robot with an impact buffering member on the surface of a robot arm for alleviating the impact when the arm contacts an object; and a contact detection unit for detecting a contact between the robot arm and object. The unit has a soft porous member on the front surface side of the impact buffering member and softer than the member; a housing member including the soft porous member and formed of a flexible material; a fluid discharge pipe for discharging a fluid inside the housing member when the object makes contact so the volume of the housing member decreases; and a volume change detection portion for detecting a change in volume of the housing member by utilizing the discharged fluid. It is possible to secure sufficient safety in a cooperative work between a person and a robot or the like, even when the person contacts the robot arm.

Abstract: The present disclosure provides a flexible suit and a flexible system for rehabilitation training of a human leg. The flexible suit includes a first hip joint motion assembly, a first knee joint motion assembly and a first ankle joint motion assembly, a first end of the first knee joint motion assembly is connected with the first hip joint motion assembly, a second end of the first knee joint motion assembly is connected with the first ankle joint motion assembly, the first hip joint motion assembly, the first knee joint motion assembly, and the first ankle joint motion assembly each includes a flexible mechanism, and at least one of a group consisting of the first hip joint motion assembly, the first knee joint motion assembly, and the first ankle joint motion assembly is configured to operate under gas drive.

Abstract: A method includes presenting a virtual representation of an environment of a robot, receiving a first user command to control the robot within the environment, rendering a predicted version of the virtual representation during a period of latency in which current data pertaining to the environment of the robot is not available, updating the predicted version of the virtual representation based upon a second user command received during the period of latency, and upon conclusion of the period of latency, reconciling the predicted version of the virtual representation with current data pertaining to the environment of the robot.

Abstract: Systems and methods for operating an end effector include a first jaw, a second jaw, a first actuation mechanism configured to actuate the first jaw and the second jaw toward each other with a first force, and a second actuation mechanism configured to actuate the first jaw and the second jaw toward each other with a second force greater than the first force. The second actuation mechanism is different from the first actuation mechanism. In some embodiments, the first actuation mechanism includes a first pull cable configured to increase an angle between the first jaw and the second jaw and a second pull cable configured to decrease the angle between the first jaw and the second jaw. In some embodiments, the second actuation mechanism includes a lead screw.

Abstract: The present disclosure provides a joint control method for a serial robot and a serial robot using the same. The method includes: performing a analysis on an end joint in the plurality of joints, and calculating the force of the previous joint acting on the end joint; performing a analysis on each of the other joints in the plurality of joints, and calculating the force of the previous joint acting on the joint; obtaining an angular velocity and an angular acceleration of each joint after obtaining the force of the previous joint acting on the joint, and calculating a torque corresponding to each joint; and projecting the torque corresponding to each joint to a motor corresponding to the joint to obtain a torque to be applied to the motor at a current time. In this manner, which improves the tracking precision of the end joint while reduces the tracking error.

Abstract: A work piece processing device includes a tool device, a work piece holder and a servo-elastic actuator system having simultaneous precision force and position control that moves one of the tool device and the work piece holder to the other of the tool device and work piece holder. The servo-actuator system including a servo-actuator, a compliance elastic member and a weight compensation elastic member disposed in a force transmission path with the compliance elastic member and the weight compensation elastic member disposed with respect to each other so that a spring force exerted by the weight compensation elastic member is opposed to a spring force exerted by the compliance elastic member.

Abstract: A control device includes: a processor that is configured to execute computer-executable instructions so as to control a robot, wherein the processor is configured to: generate a second control signal by reducing at least one of frequency components obtained based on an output of a first detector which is installed in a portion vibrated by a robot and detects vibration from a first control signal for driving the robot, and wherein the portion is different from the robot and an end effector installed in the robot.

Abstract: A method for operating a robot includes: creating a production robot program for execution on a robotic controller, wherein the robot program defines a robot path; performing an offline simulation of robot motion along the robot path using the production robot program; analyzing loads between a robot end effector and an object along the robot path, based on the offline simulation, to identify a maximum load experienced during the simulation; tuning production robot program parameters to reduce the maximum load if the maximum load is not within a predefined limit; generating a test robot program to test the end effector and the object with the maximum load within the predefined limit; testing the end effector with the object online using the test robot program; repeating the tuning and testing until no objects are dropped during the testing; and operating the robot during production using tuned robot program parameters.

Abstract: This method of controlling an automated work cell provided with a robot arm comprises the steps of: a) calculating Cartesian instructions corresponding to the nominal articular instructions; b) calculating actual articular instructions from the Cartesian instructions, taking into account actual geometrical parameters of the robot arm; c) calculating for each nominal articular instruction and from the actual articular instruction, an articular instruction correction value; d) calculating, for each nominal articular instruction and from the calculated articular correction instruction, an effective articular instruction; e) calculating control instructions for each motor controller from the calculated effective articular instructions; f) transmitting the motor control instructions to each motor controller.

Abstract: A vibration measurement method for a moving part is a vibration measurement method in which vibration of a moving part is measured using a first inertial sensor. The method includes: performing measurement by the first inertial sensor in a state where the moving part is resonating, driven by a drive unit which drives the moving part; and finding a magnitude of vibration of the moving part, based on an output from the first inertial sensor. An example of the moving part may be a plurality of arms or the like provided in such a way as to be able to rotate about a rotation axis.

Abstract: A link extends between a distal member and a proximal member of a wearable device, such as an exoskeleton, orthosis or prosthesis for a human lower limb. One or other of the distal member and the proximal member includes a crossing member. The link extends from the crossing member of the distal member or the proximal member, to the other of the distal member or the proximal member. Actuation of the link translates to a force at the distal or proximal member that is normal to a major longitudinal axis extending through the distal and proximal members. In one embodiment, a sliding link of a device configured for use with a human joint tracks two degrees of freedom of the joint.

Abstract: The inventive technology eliminates the need for force sensors on a robotic manipulator while also improving feel by incorporating force sensors on the corresponding robotic input device. Position of the manipulator is used to determine positioning of the input device; therefore, rather than manipulator position lagging the input device position (as in conventional robotic systems), the opposite is true, so that input device position lags manipulator position. Through a combination of input device force control and manipulator position feedback, a sense of feel is achieved through use of an “effort sensor” mounted at a “control point” on the input device and use of a “position feedback force control” scheme.

Abstract: Provided is a robot system includes a conveyor; a conveyor speed detection unit for detecting a movement speed of the conveyor; a robot for performing a task on the workpiece; a worker state input unit for inputting a collaboration state of a worker; and a control unit for controlling the robot based on the movement speed and the collaboration state of the worker. The control unit calculates a first speed based on the movement speed of the conveyor, calculates a second speed of a distal end of an arm of the robot, in a direction intersecting a direction of the first speed, causes the distal end of the arm to move at a speed combining the first speed and the second speed, and limits the second speed, when the collaboration state of the worker is input.

Abstract: A method for controlling a robot movement of a robot on the basis of a second trajectory is provided, wherein the second trajectory is calculated on the basis of a viscosity volume model.

Abstract: Provided is a task planning device including a simulator that is configured to simulate operation of a robot system including a plurality of devices by using models of the plurality of devices allocated in a virtual space, a system state acquisition unit that is configured to acquire a state of the robot system, and a task plan generation unit that is configured to dynamically generate a task plan to be executed by the robot system by operating the simulator based on the state acquired by the system state acquisition unit and content of a task instructed by a user.

Abstract: Tool force information is provided to a user of a telesurgical system using an alternative modality other than force reflection on a master manipulator, such as providing the information on user-visible, user-audible, or haptic “buzz” or “viscosity” indicators, so as to allow expanded processing, including amplification, of the information, while not significantly affecting the stability of the telesurgical system or any closed-loop control systems in the telesurgical system.

Abstract: A method of transferring intrinsic hand muscles along with a respective nerve and blood supply; and allowing signal detection by a surface electrode is provided. The method further includes transferring muscles of a forearm along with a respective nerve and blood supply; and allowing signal detection by a surface electrode.

Abstract: Systems and methods are provided for utilizing an MRI image and real-time an ultrasound images to guide and/or restrict the movement of an ultrasound probe in position for collecting a biopsy core. A real-time ultrasound image is acquired and fused with pre-operative imaging modalities, such as an MRI image, to provide a three-dimensional model of the prostate. A multi-link robotic arm is provided with an end-effector and an ultrasound probe mounted thereto. Sensor information is used to track the ultrasound probe position with respect to the 3D model. The robotic arm allows for the implementation of a virtual remote center of motion (VRCM) about the transrectal probe tip, an adjustable compliant mode for the physician triggered movement of probe, a restrictive trajectory of joints of the robotic arm and active locking for stationary imaging of the prostate.

Abstract: Provided is a robot center-of-gravity display device including: a specification setting unit that sets specifications including the weights, center-of-gravity positions, and dimensions of components of respective shafts; a posture setting unit that sets position information of the respective shafts; a robot-image generating unit that generates a three-dimensional model image of the robot in a state where the respective shafts are located at the positions indicated by the position information, based on the set position information of the respective shafts and the specifications of the components; a center-of-gravity-position calculation unit that calculates the center-of-gravity position of the overall robot, based on the set position information of the respective shafts and the specifications of the components; an image combining unit that superimposes an indication showing the center of gravity of the overall robot on the three-dimensional model image at the calculated center-of-gravity position; and a displ

Abstract: A simulation system to determine an optimal trajectory path for a robot with an attached implement includes a trajectory simulator which provides a simulated trajectory path for an implement, an implement model database which comprises motion data of the implement, and a logger that associates a time stamp of the implement's motion during the simulated trajectory path to generate logger data. A profile is determined by the logger data received from the logger which identifies implement motion that exceeds predetermined thresholds, and a tuner adjusts the simulated trajectory path so as to reduce the number of times predetermined thresholds are exceeded.

Abstract: An ambulatory exoskeleton can be selectively operated in at least two different modes, with one mode constituting an unworn propulsion mode, used when the exoskeleton is not worn by a user, and another mode constituting a default or worn propulsion mode, used when the exoskeleton is worn by a user. With this arrangement, a physical therapist, or other operator, wishing to move an unworn exoskeleton, can balance the unworn exoskeleton, while simultaneously utilizing a control system and actuators of the exoskeleton to propel the unworn exoskeleton. Therefore, the exoskeleton walks by taking steps forward, as commanded by the operator using any of a plurality of input arrangements, while the operator balances and steers the exoskeleton by physically guiding the exoskeleton using a handle or other interaction surface of the exoskeleton.

Abstract: A driving apparatus includes a joint, a first support member connected to the joint and a second support member connected to the joint. A first elastic body which is inflatable or deflatable is provided along the joint, the first support member and the second support member. A support provided with a first end portion and a second end portion opposite to the first end portion is placed between the first support member and the first elastic body, and the first end portion is connected to the joint. And, a second elastic body which is inflatable or deflatable is inserted between the support and the first support member.

Abstract: In a method and apparatus for producing fiber composite material components, a first web of the fiber composite material is applied to a mold by means of an application tool arranged on a positioning device. A height profile of the applied first web is measured by means of a height profile measuring sensor. During the application of a second web of the fiber composite material to the mold, a control device activates at least one drive motor of the positioning device depending on the measured height profile, so that application errors, such as overlapping of the webs, are avoided. The webs are applied in opposite application directions by rotating the application tool 180° relative to the positioning device upon a change in the application direction. Two height profile measuring sensors arranged next to one another on the application tool for measuring the height profile of the applied webs.

Abstract: A cooperation robot for moving a bumper to a predetermined position of a vehicle in a vehicle production system includes: a multi-axis arm, a front end portion of which is connected to and a rear end portion of which is connected to a robot body so that the multi-axis arm is movably disposed to upper, lower, left and right sides on the basis of the robot body. The multi-axis arm is disposed to rotate the gripper. A force torque (FT) sensor is disposed between the multi-axis arm and the gripper and detects a direction of external force which is applied to the gripper and the bumper gripped by the gripper. An operator controls the multi-axis arm so that positions of the gripper and the bumper vary. A controller controls the operator according to the direction of the external force detected by the FT sensor when the multi-axis arm is in a stand-by condition to move the gripper in the direction the external force.

Abstract: The disclosure provides a robotic arm controller which determines a control parameter for at least one actuator comprising the robotic arm using a control equation having the general form Ax=b, where A is a transformation matrix A based on the geometry and Jacobian of the robotic arm, x is the control parameter x such as a torque vector at a specific joint, and b is the end effector parameter b which specifies a desired corrective state of the end effector. The methodology, by way of constructing and solving an unscented optimization problem, provides a solution to the Ax=b problem by perturbing at least one joint angle appearing in the Jacobian to generate a plurality of distributed joint angles, determining a control parameter x which minimizes an error function.

Abstract: Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.

Abstract: A method for controlling a robot device (500) having a movable manipulator and/or effector (400), according to which method a speed and/or direction of movement of the manipulator and/or effector (400) is monitored and adjusted as appropriate, taking into consideration medical parameters for injury and robot dynamics is provided. A robot device (500) for implementing such a method and to a computer program product for executing such a method.

Abstract: Semi-closed control or fully closed control is selected as a control system for a joint using a motor configured to drive a joint of a robot arm via a reduction gear, an input-side encoder, and an output-side encoder, the semi-closed control being control in which an output of the input-side encoder is used, the fully closed control being control in which an output of the output-side encoder is used. A test run is performed plural times in which the robot arm is caused to perform a specific operation while semi-closed control is being performed on the joint, and semi-closed control or fully closed control is selected using outputs of the output-side encoder obtained in the test runs or in accordance with the content of a task that the robot arm is to be caused to perform.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for determining, based on a task to be performed by a robot and one or more attributes of an environment in which the robot is to perform the task, a suggested task-level movement parameter for application to movement of the robot while performing the task; providing output indicative of the suggested task-level movement parameter; receiving input indicative of user selection of the suggested task-level movement parameter or a user-defined task-level movement parameter; determining, based on the received input, an actual task-level movement parameter to be applied to movement of the robot while performing the task; and identifying, based on the actual task-level movement parameter, a plurality of component-level movement parameters to be applied to a plurality of motion primitives implemented by one or more operational components of the robot to perform the task.

Abstract: A robot control device adapted for performing flexible control includes: an operation state monitoring unit for determining the operation state of the robot on the basis of outputs from a position detecting unit for detecting positions of respective shafts of a robot, a force detecting unit for detecting forces of respective shafts of the robot or a time measuring unit for measuring time; a storage unit for storing a plurality of parameter sets indicating flexibility of the flexible control; and an operation generating unit for switching the parameter sets each indicating flexibility on the basis of an output from the operation state monitoring unit at the time of executing the flexible control.

Abstract: Example systems and methods for self-righting a robotic device are provided. An example method may include determining an orientation of a bottom surface of a legged robotic device with respect to a ground surface. The method may also include determining that the robotic device is in an unstable position, based on the determined orientation. The method may also include performing a first action configured to return the robotic device to a stable position. The method may also include performing a first action configured to return the legged robotic device to the stable position. The method may also include performing a second action configured to return the legged robotic device to the stable position, if the legged robotic device is in the unstable position after the first action.

Abstract: A method, robot arrangement and computer program product for tuning a dynamical model of an industrial robot on a foundation. The parameter determining device includes a model memory with a first dynamical model of the robot, the first dynamical model including first model parameters representing dynamical properties of the robot; and a second dynamical model of a foundation to which the robot is to be attached, the second dynamical model including second model parameters representing dynamical properties of the foundation, and a parameter adjusting unit that obtains information about dynamical properties of the foundation by ordering the actuator to move the robot and by receiving, from the detector, measurements of at least one property affected by the movement; and set at least one of the second model parameters on the basis of the dynamical properties of the foundation.

Abstract: Provided is a medical robot arm apparatus including a plurality of joint units configured to connect a plurality of links and implement at least 6 or more degrees of freedom in driving of a multi-link structure configured with the plurality of links, and a drive control unit configured to control driving of the joint units based on states of the joint units. A front edge unit attached to a front edge of the multi-link structure is at least one medical apparatus.

Abstract: An example implementation for determining mechanically-timed footsteps may involve a robot having a first foot in contact with a ground surface and a second foot not in contact with the ground surface. The robot may determine a position of its center of mass and center of mass velocity, and based on these, determine a capture point for the robot. The robot may also determine a threshold position for the capture point, where the threshold position is based on a target trajectory for the capture point after the second foot contacts the ground surface. The robot may determine that the capture point has reached this threshold position and based on this determination, cause the second foot to contact the ground surface.