Abstract: Certain aspects relate to systems and techniques for manually and robotically driving a medical instrument. For example, a system can include a handle configured to receive an elongated shaft of a medical instrument. The handle can include a gripping mechanism for selectively engaging the elongated shaft, and an articulation input and configured for receiving user inputs of commanded articulation of the elongated shaft. The system can include an instrument drive mechanism configured to engage a base of the medical instrument. The instrument drive mechanism can include at least one robotic drive output configured to engage a robotic drive input of the base to cause articulation of the elongated shaft based on the user inputs received at the articulation input, and a first connector configured to removably couple the instrument drive mechanism to an instrument positioning device.

Abstract: An embodiment of the present invention provides a hip joint link apparatus including: an upper body link fixed to an upper body of a wearable robot, and a hip joint jointer linking a thigh link linked to a thigh of the wearable robot, wherein the hip joint jointer has a four-revolute joint structure including a plurality of revolute joints and a plurality of links; an arbitrary input moment to the hip joint jointer is changed to an output moment in a predetermined direction based on a state of being transmitted to the plurality of links through the plurality of revolute joints; and the hip joint jointer assists a flexion moment, an extension moment, an abduction moment, and an adduction moment.

Abstract: The invention involves a system and method for quickly retracting a tool from a surgical site. The system is generally constructed and arranged for attachment to a robotic arm for manipulation of the tool to perform an in-vivo surgery. The tool is constructed to retract from the surgical site upon a predetermined condition. The system and the robot can be reset when the condition has cleared so that the surgery can continue.

Abstract: A sealed actuator including stacked motor modules. Each motor module has a motor module housing, a motor stator attached to a respective motor module housing, a motor rotor in communication with a respective motor stator, and a stator seal disposed between the motor stator and motor rotor, surrounding the motor rotor and having a sealing surface interface, that interfaces with a respective sealing housing surface of the motor module housing, facing the motor rotor to seal the motor stator from the motor rotor. The motor module housings are stacked against each other and the sealing housing surface interfaced, at the sealing surface interface facing the rotors, to the respective stacked stator seals of the motor module housings forms a substantially continuous seal interface of the stacked motor modules sealed by the stacked stator seals to form a continuous barrier seal between the motor rotors and the motor stators.

Abstract: An automated system and method for construction and assembly of walls, floors and ceilings are disclosed. The automated system comprises at least one robotic arm, at least one material gripper tool, at least one sliding, rising and rotating system, and tongue-and-groove interconnection elements.

Abstract: A robot arm comprising a plurality of limbs articulated relative to each other, the robot arm extending from a base to a distal limb carrying a tool or an attachment point for a tool, the distal limb being attached by a revolute joint to a second limb, and the robot arm comprising a motor having a body and a drive shaft configured to drive rotation of the distal limb relative to the second limb about the revolute joint, wherein the body of the motor is fast with the distal limb.

Abstract: [Problem] Provided is a link mechanism capable of moving a tip end part substantially straight by using a simpler structure. [Solution] A link mechanism including a first parallel link mechanism having a fixed link and an intermediate link parallel to each other, and a pair of side links parallel to each other, a second parallel link mechanism having a fixed link and an intermediate link parallel to each other, and a pair of side links parallel to each other, in which the fixed link is connected to the intermediate link of the first parallel link mechanism, a fixed structure that is formed including the intermediate link of the first parallel link mechanism and the fixed link of the second parallel link mechanism, and a coupling link that couples one of the side links of the first parallel link mechanism and one of the side links of the second parallel link mechanism.

Abstract: A robotic surgical assembly includes a slave manipulator with an actuator, a pushing device connected to the actuator, a sensor detecting a contact force on the pushing device, a position sensing system, and a control unit. A surgical instrument is detachable to the slave manipulator and separated from the slave manipulator by a sterile barrier. The surgical instrument includes a frame; an articulated link; a tendon associated with the actuator, having proximal and distal portions secured to the link. A transmission device in contact with the tendon proximal portion exerts a traction action. The transmission device has one degree of freedom of motion relative to the frame. The pushing device releasably and selectively connects with the transmission device to transmit a pushing action to the transmission device through the sterile barrier. An elastic device biases the transmission device to exert a traction action on the tendon.

Abstract: A solid-state additive manufacturing additive manufacturing system applicable to building up 3D structures, coating and functionalizing surfaces, joining structures, adding customized features to objects, compounding proprietary compositions and repairing various structures is disclosed. The solid-state additive manufacturing system enables deposition of different fillers, viz. metals, metal alloys, MMCs, polymers, plastics, composites, hybrids and gradient compositions, as well as controls the resulting deposit structures, e.g. specific nano-/micro-, gradient- and porous-material structures. The system accommodates various feeding-, spindle- and tool-designs for depositing different forms of filler materials, viz. rods, wires, granules, powders, powder-filled-tubes, scrap pieces or their combination, and a working platform with multiple access points.

Abstract: A horizontal articulated robot includes a base, a first arm, a second arm, and a cable unit connected to the base and the second arm. The cable unit includes an arm conduit having one end connected to the second arm, and the other end attached to a first plate-shaped member fixed to an upper surface of the base, a number of cables passing through the arm conduit, a second plate-shaped member that closes a back-side opening made in the back surface of the base. The first plate-shaped member is configured to close a top surface opening made in the upper surface of the base, and the top surface opening is continuous with the back-side opening.

Abstract: The parallel link mechanism is applied to a work device in which a link actuation device and a combined-side actuator are combined. A control device includes a storage that stores a plurality of work coordinates as well as a work-point movement velocity as a target velocity of an end effector and a posture change velocity as a target angular velocity to be set for changing the posture of the end effector. A controller includes a switching function unit that switches the target velocity used for calculating movement velocities of the respective posture control actuators and a movement velocity of the combined-side actuator, to the work-point movement velocity and to the posture change velocity.

Abstract: A manipulating device includes a base part, a user interface disposed above the base part and having a movable part and a grip part, a parallel link mechanism having a pair of arm parts and a pair of link parts, a position sensor configured to detect a position of a base-end part of the arm part, and a controller configured to control at least one of a position and a posture of a robot based on the position detected by the position sensor. The arm part is rotatably connected at a base-end part to the base part, the link part is rotatably connected at a base-end part to the arm part, and is rotatable connected at a tip-end part to the movable part, and the base part is coupled to the movable part through three sets of parallel link mechanisms with six degrees of freedom.

Abstract: A robotic arm assembly includes a main body, a number of servos arranged within the main body, each of which has an output shaft, and a rotary connection member connected to the output shaft of one of the servos at a first end of the main body. The rotary connection member defines a through hole allows cables to pass therethrough.

Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. A computer-assisted teleoperated surgery system includes a teleoperated instrument actuation pod. The surgical instrument actuation pod includes a plurality of linear actuators arranged around a surgical instrument. The linear actuators engage with actuator engagement members on the instrument and so drive movable parts on the instrument. The actuation pod is mounted on a teleoperated manipulator. Instrument pod mass is close to the teleoperated manipulator to minimize the pod's inertia, momentum, and gravity effects on the manipulator.

Abstract: A robot includes a base, a robot arm having a first arm provided on the base and configured to rotate about a first rotation axis and a second arm provided on the first arm and configured to rotate about a second rotation axis, a cable placed inside of the robot arm, and a tube having a suction hole for suctioning a gas inside of the robot arm when connected to a pump, wherein a first gap is provided between the first arm and the second arm, and the suction hole is placed inside of the robot arm.

Abstract: A multi-joint robot arm including a pair of support sections separated by a specified gap in a width direction; a first arm rotatably supported by a first joint on the pair of support sections and formed from a pair of first side plate members with a level difference such that a gap between the first joint and an end section on an opposite side becomes narrower towards the width direction side; a second arm arranged inside of the pair of first side plate members, rotatably supported by a second joint on the first side plate members, and provided with a level difference such that a gap between the second joint and an end section on the opposite side gets wider towards the width direction side; and a robot hand attached to the second arm on an end portion on the opposite side to the second joint.

Abstract: A workpiece manipulation system to provide high-precision manipulation of a workpiece by an aircraft. The workpiece manipulation system comprises a lifting mechanism to couple with the aircraft, an end-effector, and a processor. The lifting mechanism includes one or more joint actuators to extend or retract the lifting mechanism relative to the aircraft. The end-effector includes an end-effector actuator to control an operation of the end-effector to manipulate the workpiece. The processor is communicatively coupled with the aircraft processor and configured to control operation of the end-effector actuator and the one or more joint actuators. In operation, the processor provides feedback to the aircraft.

Abstract: An automated medical system and method for using the automated medical system. The automated medical system may comprise a robot support system. The robot support system may comprise a robot body. The robot support system may further comprise a selective compliance articulated robot arm coupled to the robot body and operable to position a tool at a selected position in a surgical procedure. The robot support system may further comprise an activation assembly operable to transmit a move signal to the selective compliance articulated robot arm allowing an operator to move the selective compliance articulated robot arm. The automated medical system may further comprise a camera tracking system and an automated imaging system.

Abstract: A parallel link robot includes a base, a movable part, link mechanisms, and actuators. The movable part is movable along a center axis. The first, second and third link mechanisms are provided around the center axis with angular intervals in a circumferential direction around the center axis to project outwardly along a radial direction with respect to the center axis. Each of the first, second and third link mechanisms connects the base and the movable part to move the movable part along the center axis. The angular intervals have an acute angular interval with an acute angle. The first, second and third actuators are provided at the base to be connected to the first, second and third link mechanisms respectively so as to drive the first, second and third link mechanisms respectively.

Abstract: A robot includes a base, an arm provided on the base and rotating around a rotation axis, a control board provided on an inside of the base and configured to control driving of the arm, a power supply board provided on the inside of the base and configured to supply electric power to the control board, and a main substrate provided on the inside of the base detachably from the base and configured to support the control board and the power supply board.

Abstract: A robot installation includes a first robot and a second robot. The first robot is attached to a fixed position in relation to the second robot such that the second robot lies within a reach of at least one drive arm of the first robot.

Abstract: A workpiece manipulation system is disclosed. The workpiece manipulation system is configured to provide high-precision manipulation of a workpiece by an aircraft. The workpiece manipulation system comprises a lifting mechanism to couple with the aircraft, an end-effector, and a processor. The lifting mechanism includes one or more joint actuators to extend or retract the lifting mechanism relative to the aircraft. The end-effector includes an end-effector actuator to control an operation of the end-effector to manipulate the workpiece. The processor is communicatively coupled with an aircraft processor and configured to control operation of the end-effector actuator and the one or more joint actuators.

Abstract: A robotic surgical system includes a robotic arm comprising a first segment having a first plurality of links and a first plurality of actuated joint modules providing the robotic arm with at least five degrees of freedom, and a second segment having a proximal end coupled to a distal end of the first segment, and comprising a second plurality of links and a second plurality of actuated joint modules providing the robotic arm with at least two degrees or freedom. The robotic surgical system further comprises an instrument driver coupled to the second segment and configured to hold a surgical instrument. The second arm segment is configured to move the surgical instrument within a generally spherical workspace, and the first arm segment is configured to move the location of the spherical workspace.

Abstract: A robot includes: a turning part rotated about a first axis; a first arm part rotatably connected to the turning part about a second axis perpendicular to the first axis; a second arm part rotatably connected to the first arm part about a third axis; a distal-end swing part rotatably connected to the second arm part about a fourth axis; actuators rotating the first arm part, the second arm part, and the distal-end swing part about the second to fourth axes, which are parallel to each other, respectively; and a cable for the actuators. The turning part, the first arm part, the second arm part, and the distal-end swing part are alternately arranged at one or the other side in the direction of the second axis. The cable is disposed along side surfaces at the one side. The actuators are disposed close to side surfaces at the other side.

Abstract: The disclosure is directed to a medical robotic system and method for releasably securing a medical instrument over a modular support assembly that is further removably coupled to the manipulating arm via an intermediate fastening component. The medical instrument is configured for delivery through a small percutaneous penetration in a patient as it slides over the modular support assembly, independent of the manipulating arm. The robotic system further includes a simplified draping mechanism including covering the manipulating arm up to the fastening component thereby obviating the need for extensive sterile drape that extends all over the arm up to the support interface and the cannula holding assembly in existing art. Advantageously, the present invention allows for a quick and simple installation while allowing for free rotary motion of the support assembly.

Abstract: A mechanical teleoperated device for remote manipulation is provided that is primarily intended for use in minimally invasive surgery. The device generally comprises a slave unit having a number of slave links interconnected by a plurality of slave joints, an end-effector connected to the distal end of the slave unit, a master unit having a corresponding number of master links interconnected by a plurality of master joints, and a handle connected to the distal end of the master unit for operating the mechanical teleoperated device. The device further comprises mechanical transmission means arranged to kinematically connect the slave unit with the master unit such that the movement applied on each master joint of the master unit is reproduced by the corresponding slave joint of the slave unit.

Abstract: A gear device includes an outer cylinder; an internal member at least partially housed in the outer cylinder and configured to rotate relative to the outer cylinder about a predetermined rotation axis; a first main bearing fitted into an annular space formed between the outer cylinder and the internal member; and a second main bearing fitted into the annular space and configured to define the rotation axis in cooperation with the first main bearing. A distance between a first intersection where a load action line of the first main bearing intersects with the rotation axis and a second intersection where a load action line of the second main bearing intersects with the rotation axis is set to fall within a range expressed by a predetermined inequality expression.

Abstract: A bio-stimulation robot includes a stationary platform, a plurality of drive modules coupled to the stationary platform, and a motion platform coupled to the drive modules to operate to change a position of the motion platform. Each of the drive modules includes a first guide member having an arc shape, a motion member coupled to the first guide, and a leg member having a first end coupled to the motion member and a second end fixed to the motion platform. The motion member slides along the first guide member. The second end of the leg member is rotatably connected to the motion platform. The second end of the leg member is rotatably connected to the motion platform.

Abstract: A tool driving module for a robot manipulator comprising an end-shaft is disclosed. The tool driving module comprises a connection part, a motor driving module, a driving arm and a tool fixing bracket. The connection part comprising a combination bracket is coupled with the end-shaft. The motor driving module is coupled with the combination bracket. The driving arm is connected with the motor driving module, and driven by the motor driving module to rotate. The tool fixing bracket is connected with the driving arm for mounting a tool thereon. The tool fixing bracket and the tool are driven by the driving arm to rotate synchronously, and a tool center point of the tool and an extending line of an axis of the end-shaft are at a common point via the rotation of the tool.

Abstract: A positioning device for a robot includes an end effector, in particular a surgical end effector, which has a base and a flange to which the robot can be secured, wherein the flange is connected to the base by a kinematic system which has at least two joints. The flange can be adjusted from a first position relative to the base, in particular at least substantially on a circular path or straight line, to a second position by the kinematic system, the second position being spaced apart from the first position. An orientation means reorients the flange from a first orientation in the first position into a second orientation in the second position, the second orientation being rotated about a reference axis by at least 75 degrees, in particular relative to the first orientation, as a result of an adjustment from a first position into a second position.

Abstract: A combination link actuation device has two link actuation devices combined with each other. Each link actuation device is provided so as to connect a distal end side link hub to a proximal end side link hub such that an orientation of the distal end side link hub is changed relative to the proximal end side link hub through three link mechanisms aligned in a circumferential direction. An orientation controlling actuator is provided in two or more link mechanisms among the three link mechanisms to optionally change an orientation of the distal end side link hub relative to the proximal end side link hub. At least one circumferential separation angle among separation angles of the three link mechanisms is greater than 120°. The two link actuation devices are disposed such that portions, of the link mechanisms, where the separation angle is greater than 120° oppose each other.

Abstract: The present invention is related a redundant parallel positioning table device. More particularly, the present invention relates to a redundant parallel positioning table device for a precise positioning of heavy load samples, instrument and/or apparatus, e.g. in the context of diffractometer machines for synchrotron facilities.

Abstract: A mechanical teleoperated device for remote manipulation includes a slave unit having a number of slave links interconnected by a plurality of slave joints; an end-effector connected to the slave unit; a master unit having a corresponding number of master links interconnected by a plurality of master joints; and a handle connected to a distal end of the master unit. The device further includes first device arranged to kinematically connect the slave unit with the master unit, second device arranged to kinematically connect the end-effector with the handle, and a mechanical constraint device configured to ensure that one master link of the master unit is guided along its longitudinal axis so that the corresponding slave link of the slave unit always translates along a virtual axis parallel to the longitudinal axis of the guided master link in the vicinity of the remote manipulation when the mechanical teleoperated device is operated.

Abstract: The present application provides a multi-motion-platform parallel robot and a method of constructing the same. The parallel robot comprises a symmetrical basic parallel mechanism and one or more symmetrical branch parallel mechanism. The basic parallel mechanism comprises a symmetrical basic foundation platform, a symmetrical basic motion platform, and symmetrical main branched-chains. The branch parallel mechanism comprises a symmetrical branch foundation platform, a symmetrical branch motion platform, and symmetrical branch branched-chains. The basic parallel mechanism and the branch parallel mechanism are connected by means of a multiple-output motion pair having symmetrical output ends, and share one set of driving pairs and drive and control devices.

Abstract: A holding device for surgical instruments, in particular for minimally invasive surgery, is provided. The device includes a holding arm that holds an instrument support at the distal end of the holding arm. The instrument support can have which a surgical instrument is mounted thereon. The surgical instrument is operated by way of a drive device. To permit a simple replacement of the instrument support, the drive device is connected to the holding arm by way of a holding device, such that the drive device can easily be changed from a drive position to a replacement position.

Abstract: A robotic mechanical manipulator structure includes a first link and a second link rotatably coupled to the first link by a rotatable joint. A first high hardness cable guide is disposed in the first link. A first cable is connected between the first link and the second link to move the first link relative to the second link in a first direction around the joint, the first cable connected to the first link at a first anchor point, and passing through the first high hardness cable guide in the second link.

Abstract: An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.

Abstract: Systems and methods are described for using a robotic system to perform procedures within a cavity using a virtual fixture. The robotic system includes a rigid central stem including an access channel positioned longitudinally along the rigid central stem and a dexterous arm at least partially positioned within the access channel of the central stem. The dexterous arm includes a plurality of individually adjustable segments. A control system receives a positioning command from a manipulator control indicative of a desired movement of a distal end of the dexterous arm. A virtual fixture is defined that is representative of the access channel of the rigid central stem. The position of the dexterous arm is adjusted such that the distal end of the dexterous arm performs the desired movement while the portion of the dexterous arm that is positioned within the first access channel is not moved beyond the defined virtual fixture.

Abstract: The present invention comprises: a fixed four-node link in which four links are joined together in a hinged fashion, comprising a fixed link of which the position is fixed, a connecting rod positioned on the opposite side of the first link, an input-side transmission link connecting the end on one side of the connecting rod and the first link, and an output-side transmission link positioned on the opposite side of the input-side transmission link; an input link part to which an actuator is attached, and which is joined in hinged fashion between the two ends of the input-side transmission link; and an output link part which is fixedly joined to the output-side transmission link and is rotated by means of the output-side transmission link, and the one-degree-of-freedom link device according to the present invention and the robot arm using the same can be used to allow easy attachment and detachment between link devices and achieve smooth action in a robot arm in accordance with what is desired.

Abstract: A parallel kinematics robot has a first drive arm and a second drive arm, the two drive arms being crossed when the robot operates within its normal work area. The drive arms thereby occupy less space in a horizontal direction compared with a situation where the two drive arms point away from each other.

Abstract: A surgical instrument includes a proximal control mechanism having an instrument control surface. The instrument control surface has an opening through which a resilient latch arm can be inserted to engage a fixed latch structure contained within the proximal control mechanism. The fixed latch structure provides a lead-in ramp that forces the resilient latch arm onto a locking surface. The resilient latch arm is contained entirely within the proximal control mechanism when engaged. A release channel extends from an outer periphery of the instrument control surface to the opening through which the resilient latch arm enters, and provides a passage through which a release tool can be inserted to engage the resilient latch arm and release it from the locking surface of the fixed latch structure. A section of the release channel may be shaped to provide a fulcrum for the release tool.

Abstract: A robot assembly allowing remote actuation of a carriage supported robot. The robot assembly includes a track, a carriage moveable along the track, and a robot mounted to the carriage. The robot includes at least a first arm, and a first driven member coupled to the first arm. The robot assembly further includes a drive assembly having a first driving member, a first transmission member coupled to the first driving member and the first driven member, and a first drive motor coupled to the first driving member. The first drive motor is configured to move the first driving member causing remote rotation of the first driven member and rotation of the first arm. Substrate processing apparatus and methods of transporting a substrate within a substrate processing apparatus are also provided, as are numerous other aspects.

Abstract: An actuation input mechanism for a teleoperated surgical instrument may include an interface structure and a shaft connected to the interface structure. The interface structure may be engageable with a drive structure of an actuation interface assembly of a teleoperated surgical system to be driven by the drive structure. The shaft may be rotatable in response to the interface structure being driven. The interface structure may comprise a depression shaped and sized to receive a fingertip. The interface structure may further comprise one or more gripping features disposed in the depression. A surgical instrument for a teleoperated surgical system may include an instrument shaft, an end effector, and a force transmission mechanism. The force transmission mechanism may comprise an actuation input mechanism to transmit drive forces to actuate the surgical instrument, the actuation input mechanism including an interface structure and a shaft.

Abstract: A horizontal multijoint type robot is so constructed that it comprises a first arm connected through a first joint shaft to a base, a second arm connected through a second joint shaft to the first arm, and a working shaft provided rotatably and movably up and down on the distal end of the second arm, and that the arm length L1 of the first arm and the arm length L2 of the second arm are equal to each other so that the second arm is able to overlap the first arm.

Abstract: A joint assembly for releasably securing a first and a second segment of an associated modular limb is provided. The joint assembly includes a male connector including a base and a load bearing blade secured to the base of the male connector protruding therefrom. The male connector is adapted to be secured to one of the first and second segments of the associated modular limb. A female connector is provided and includes a base and a load bearing socket secured to the base of the female connector. The socket is configured to selectively receive the blade of the male connector. The female connector is adapted to be secured to the other of the first and second segments of the associated modular limb. A locking member selectively retains the blade of the male connector in the socket of the female connector. The male connector, the female connector, and the locking member cooperate to form a resilient and selectively releasable modular limb joint.

Abstract: A substrate transfer robot includes a hand to approach a substrate storage on which a substrate is placed, and to hold the substrate. An arm moves the hand. A controller controls a position and orientation of the hand. When in plan view, a substrate holding center at a time when the hand is holding the substrate is adjacent to the substrate storage and is at an access start position at a predetermined distance from the substrate storage, the substrate holding center reaches a substrate placement position in the substrate storage with a hand center line inclined toward an access straight line and with the hand holding center overlapping the access straight line. The hand center line is oriented from a base to a distal end of the hand. The access straight line is perpendicular to a front surface of the substrate storage and associated with the hand approaching the substrate storage.

Abstract: The present invention provides an atmosphere replacement apparatus capable of replacing the atmosphere on the surface of a wafer with a small amount of gas. The apparatus is configured to have a cover capable of facing and covering the wafer to be transported, and a gas supply means that supplies gas having properties different from a surrounding atmosphere from the cover, and replaces the atmosphere on the surface of the wafer by the gas.

Abstract: The robot including a main body, an arm connected to the main body, a hand connected to the arm, the hand including a hand base and a finger, and a hand bracket unit between the hand base and the finger or between the hand base and the arm, may be provided. The hand bracket unit may include a vibration damping member provided between the hand base and the finger or between the hand base and the arm, thereby damping vibration of the hand base or the finger.

Abstract: Methods and computer-program products for evaluating grasp patterns for use by a robot are disclosed. In one embodiment, a method of evaluating grasp patterns includes selecting an individual grasp pattern from a grasp pattern set, establishing a thumb-up vector, and simulating the motion of the manipulator and the end effector according to the selected individual grasp pattern, wherein each individual grasp pattern of the grasp pattern set corresponds to motion for manipulating a target object. The method further includes evaluating a direction of the thumb-up vector during at least a portion of the simulated motion of the manipulator and the end effector, and excluding the selected individual grasp pattern from use by the robot if the direction of the thumb-up vector during the simulated motion is outside of one or more predetermined thresholds. Robots utilizing the methods and computer-program products for evaluating grasp patterns are also disclosed.

Abstract: A momentum-based balance controller controls a humanoid robot to maintain balance. The balance controller derives desired rates of change of linear and angular momentum from desired motion of the robot. The balance controller then determines desired center of pressure (CoP) and desired ground reaction force (GRF) to achieve the desired rates of change of linear and angular momentum. The balance controller determines admissible CoP, GRF, and rates of change of linear and angular momentum that are optimally close to the desired value while still allowing the robot to maintain balance. The balance controller controls the robot to maintain balance based on a human motion model such that the robot's motions are human-like. Beneficially, the robot can maintain balance even when subjected to external perturbations, or when it encounters non-level and/or non-stationary ground.