Abstract: A balance control apparatus of a robot and a control method thereof. The balance control method of the robot, which has a plurality of legs and an upper body, includes detecting pose angles of the upper body and angles of the plurality of joint units, acquiring a current capture point and a current hip height based on the pose angles and the angles of the plurality of joint units, calculating a capture point error by comparing the current capture point with a target capture point, calculating a hip height error by comparing the current hip height with a target hip height, calculating compensation forces based on the capture point error and the hip height error, calculating torques respectively applied to the plurality of joint units based on the compensation forces, and outputting the torques to the plurality of joint units to control balance of the robot.

Abstract: A robot system according to an embodiment includes a robot a switching determination unit and a rearrangement instruction unit The switching determination unit performs determination of switching between the operation of transferring the workpiece and the operation of rearranging the workpiece based on the state of transferring the workpiece by the robot The rearrangement instruction unit instructs the robot to rearrange the workpiece.

Abstract: Continuous change of state directions are graphically provided on a display screen to assist a user in performing necessary action(s) for transitioning between operating modes in a medical robotic system or performing corrective action. A graphical representation of a target state of an element of the medical robotic system is displayed on a display screen viewable by the user. Current states of the element and indications directing the user to manipulate the element towards the target state are continuously determined and graphical representations of the continuously determined current states and indications are displayed on the display screen along with that of the target state.

Abstract: A method for determining the position of at least one object present within a working range of a robot by an evaluation system, wherein an image of at least one part of the working range of the robot is generated by a camera mounted on a robot. The image is generated during a motion of the camera and image data are fed to the evaluation system in real time, together with further data, from which the position and/or orientation of the camera when generating the image can be derived. The data are used for determining the position of the at least one object.

Abstract: A robot hand has a plurality of fingers including a contact sensing finger that senses contact with an object. A base provided with the fingers detects a resultant reaction force that is the combination of reaction forces from the fingers. When no resultant reaction force is detected, the plurality of fingers are moved toward the object, and when the contact sensing finger comes into contact with the object, a force that drives the fingers is switched to a force corresponding to a grasp force. When the contact sensing finger has not come into contact with the object but a resultant reaction force is detected, the driving of the fingers is terminated and the position of the base is corrected by moving the base in a direction in which the resultant reaction force having acted thereon is not detected any more.

Abstract: A robotic system includes a camera having an image frame whose position and orientation relative to a fixed frame is determinable through one or more image frame transforms, a tool disposed within a field of view of the camera and having a tool frame whose position and orientation relative to the fixed frame is determinable through one or more tool frame transforms, and at least one processor programmed to identify pose indicating points of the tool from one or more camera captured images, determine an estimated transform for an unknown one of the image and tool frame transforms using the identified pose indicating points and known ones of the image and tool frame transforms, update a master-to-tool transform using the estimated and known ones of the image and tool frame transforms, and command movement of the tool in response to movement of a master using the updated master-to-tool transform.

Abstract: The present invention discloses a system and method for monitoring and diagnosing a robot mechanism. This requires adding intelligence to the diagnostics by parameters of physical robot arm linkages respecting component relative rotation or load transfer; storing rotation or translation relationship parameters characteristic of resonant frequencies between at least one mechanical link; receiving servo motor signals; digitizing and storing servo known normal data time histories; performing a time domain to frequency domain transformation on signal to identify components which are out-of band limit pre-sets.

Abstract: Interface (101) for converting human control input gestures to telematic control signals. The interface includes a plurality of articulating arms (107a, 107b, 108a, 108b, and 109a, 109b) each mounted at a base end (113, 115, 117) to an interface base and coupled at an opposing end to a housing (106). The articulating arms are operable to permit linear translational movement of the housing in three orthogonal directions. At least one sensor (116) of a first kind is provided for measuring the linear translational movement. A pivot member (201) is disposed in the housing and is arranged to pivot about a single pivot point. A grip (102) is provided and is attached to the pivot member so that a user upon grasping the grip can cause the pivot to rotate within the housing.

Abstract: A method according to the invention for controlling a manipulator, in particular of a robot, comprises the step of detecting a contact force between the manipulator and a workpiece (2; 20) on the basis of actual drive forces (t) and drive forces (tModell) of a dynamic model (M d2q/dt2+h(q, dq/dt)=tModell) of the manipulator. The method also comprises at least one of the steps of a) multistage measuring of a position of the workpiece (2) on the basis of detected contact forces (S40, S70), in particular comprising the steps of: determining positions of misaligned contours, in particular edges (2.1, 2.2), of the workpiece (2) by detecting poses of the manipulator and at the same time contact forces acting thereon (S40); moving to reference points of the workpiece (2), in particular defined by recesses (3.1, 3.2, 3.3), on the basis of contours (2.1, 2.

Abstract: Provided is a method for determining a grounding timing of a biped walking robot. Firstly, a ZMP equation which represents a trajectory of a center of gravity including a first single-leg grounded period in which the robot stands only with a first leg and a second single-leg grounded period in which the robot stands only with a second leg, following the first single-leg grounded period, is solved using a predetermined grounding timing. A second leg ZMP position representing a ZMP position in the second single-leg grounded period is then calculated. When the calculated second leg ZMP position is out of the second leg ZMP permissible area, the grounding timing is modified so that the second leg ZMP position is located in a second leg ZMP permissible area which is defined corresponding to a possible grounding area of the second leg.

Abstract: In certain embodiments, a system includes a robotic attacher comprising a main arm and a supplemental arm operable to extend into a stall portion of a milking box. A camera couples to the supplemental arm. The supplemental arm comprises a camera-facing nozzle operable to spray the camera with a cleanser.

Abstract: A device for manipulating at least one specimen slide includes a first sensor unit operable to sense a first rotation of a first component of the device about at least one first axis of a three-dimensional coordinate system. A second sensor unit is operable to sense a second rotation of a second component of the device about the at least one first axis of the coordinate system, the coordinate system being independent of a position of the first component and of a position of the second component. A positioning unit is operable to position the second component relative to the first component.

Abstract: In this robot system, a control portion is configured to control a robot to grasp an object to be grasped by a grasping portion, and control a first imaging portion to examine the object to be grasped while driving a robot arm to change a posture of the object to be grasped multiple times.

Abstract: This robot system includes a first imaging portion detachably mounted to a robot arm and a control portion controlling the operation of the robot arm and a grasping portion, and the control portion is so formed as to detach the first imaging portion from the robot arm before moving an object to be grasped that is being grasped by the grasping portion to a prescribed processing position.

Abstract: An information processing apparatus for performing recognition processing by a recognizer for a position and orientation of a work subject to undergo work by a working unit of a robot arm, comprising: an obtaining unit adapted to obtain, for each of a plurality of positions and orientations of the work subject, a position and orientation of the working unit in which the working unit can perform the work; and a restriction unit adapted to restrict a position and orientation of the work subject used in the recognition processing by the recognizer to a position and orientation of the work subject corresponding to the position and orientation of the working unit that have been obtained by the obtaining unit.

Abstract: A robot controller controls a robot to maintain balance in response to an external disturbance (e.g., a push) on level or non-level ground. The robot controller determines a predicted stepping location for the robot such that the robot will be able to maintain a balanced upright position if it steps to that location. As long as the stepping location predicted stepping location remains within a predefined region (e.g., within the area under the robot's feet), the robot will maintain balance in response to the push via postural changes without taking a step. If the predicted stepping location moves outside the predefined region, the robot will take a step to the predicted location in order to maintain its balance.

Abstract: A robotic gripper. Each of two gripper fingers is attached to a bearing carriage. Each bearing carriage defines a rack gear and is adapted to ride on a bearing rail. A single pinion gear has two gear elements. Each of the two gear elements are meshed with one of the two rack gears so as to drive the two bearing carriages in opposite direction upon rotation of the pinion gear. A worm gear is fixed to the single pinion gear. A worm screw is meshed to the worm gear and adapted to cause rotation of the worm gear and the single pinion gear and a gripping action or a releasing action of the two gripping fingers, depending on the rotation of the worm screw. A motor is adapted to drive the worm screw in a first rotary direction and a second rotary direction.

Abstract: Disclosed are a robot cleaner capable of performing a cleaning operation by selecting a cleaning algorithm suitable for the peripheral circumstances based on an analysis result of captured image information, and a controlling method thereof. The robot cleaner comprises an image sensor unit configured to capture image information when an operation instructing command is received, and a controller configured to analyze the image information captured by the image sensor unit, and configured to control a cleaning operation based on a first cleaning algorithm selected from a plurality of pre-stored cleaning algorithms based on a result of the analysis.

Abstract: An autonomous moving floor-treating robot and a control method thereof for edge-following floor-treating are provided.

Abstract: A robot-position detecting device includes: a position-data acquiring unit that acquires position data indicating actual positions of a robot; a position-data input unit that receives the position data output from the position-data acquiring unit; and a position calculating unit that calculates a computational position of the robot through linear interpolation using first and second position data input to the position-data input unit at different times.

Abstract: Exemplary coating methods and coating systems, e.g., for coating the component surface of a component with a coating agent by means of an atomizer in a coating system, for example to paint a body part of a motor vehicle with paint, are disclosed. An exemplary method comprises moving the atomizer over the component surface of the component to be coated, or moving the component in the spray jet, thereby applying the coating agent to the component surface by means of the atomizer. The atomizer may be operated with at least one electrical and/or kinematic operating variable comprising a certain voltage for the electrostatic charging of the coating agent and/or a certain rotational speed of a rotating spray element of the atomizer. In one example, the electrical and/or kinematic operating variable of the atomizer may be dynamically varied during the movement of the atomizer.

Abstract: A system for applying disinfectant to the teats of a dairy livestock includes a carriage mounted on a track, the carriage operable to translate laterally along the track. The system further includes a robotic arm including a first member pivotally attached to the carriage, a second member pivotally attached to the first member and a spray tool member pivotally attached to the second member. The robotic arm further includes a spray tool attached to the spray tool member. The system further includes a controller operable to cause at least a portion of the robotic arm to extend between the hind legs of a dairy livestock such that the spray tool may discharge a disinfectant to the teats of the dairy livestock.

Abstract: In an embodiment a method for position determination of an object (25) in a spatial area (28) is provided in which the object (25) is illuminated with at least one light beam (22, 27). The light beam (22, 27) does not cover the complete spatial area (28) and is guided into a part of the spatial area in which the object (25) is present depending on the position of the object (25). In another aspect a method for measuring a surface is provided.

Abstract: A robot includes an angular velocity sensor installed to a second horizontal arm and for obtaining the angular velocity of the first horizontal arm with respect to a base, and suppresses the vibration of the first horizontal arm by driving a first electric motor based on the angular velocity of the first horizontal arm. In the robot, an electric wire to be connected to a second electric motor incorporated in the second horizontal arm and electric wire to be connected to the angular velocity sensor are laid around through a wiring duct having end portions coupled respectively to the base and the second horizontal arm, disposed outside the first horizontal arm and outside the second horizontal arm, and having a passage leading to the inside of the base and the inside of the second horizontal arm.

Abstract: A robot includes a first horizontal arm coupled to a base, a second horizontal arm coupled to the base via the first horizontal arm, first and second motors adapted to rotate the respective arms, and first and second encoders adapted to calculate rotational angles and rotational velocities of the respective motors. A first motor control section subtracts first and second angular velocities based on the first and second encoders from a sensor angular velocity detected by an angular sensor, and controls the first motor so that a velocity measurement value obtained by adding a vibration velocity based on a vibration angular velocity as the subtraction result and a first rotational velocity becomes equal to a velocity command value.

Abstract: A robot safety system configured to protect humans in the vicinity of a working robot (1, 11, 21, 31) against harmful impacts by said robot (1, 11, 21, 31), said safety system comprising a sensor system (3, 13, 23) and a safety controller (4, 14, 24) configured to establish an impact risk profile of the robot (1, 11, 21, 31) and deliver an operating signal to a robot controller (2, 12, 22) based on said impact risk profile, wherein the safety controller (4, 14, 24) is configured to establish the impact risk profile based on stored data and input signals, and that the stored data and input signals comprise stored impact data, stored data related to the path of the robot (1, 11, 21, 31), and signals from the sensor system of events in the vicinity of the robot (1, 11, 21, 31), such as a detected human (P1, P11, P21, P22, P31, P32) in the vicinity of the robot (1, 11, 21, 31).

Abstract: A robot apparatus includes: an image pickup device; a goal-image storing unit that stores, according to sensitivity represented by an amount of change of a pixel value at the time when a target aligned with a goal position on an image at a pixel level is displaced by a displacement amount at a sub-pixel level, goal image data in a state in which the target is arranged; and a target detecting unit that calculates a coincident evaluation value of the target on the basis of comparison of image data including the target and the goal image data stored by the goal-image storing unit and detects positional deviation of the target with respect to the goal position on the basis of the coincidence evaluation value.

Abstract: A system and method for production of manufactured parts including a production process having at least one industrial robot equipped with a handling tool for picking up the manufactured part. The robot is arranged in a quality inspection cell and the robot is programmed to hold the manufactured part in at least one known position in the quality inspection cell and present the part for a quality inspection. The quality inspection may be made visually by an operator or with the aid of a tool or sensor or by means of automatic sensors. In other aspects of the invention a method, system and a computer program for carrying out the method are described.

Abstract: In certain embodiments, a system includes a controller operable to access an image signal generated by a camera. The accessed image signal corresponds to one or more features of the rear of a dairy livestock. The controller is further operable to determine positions of each of the hind legs of the dairy livestock based on the accessed image signal. The controller is further operable to determine a position of an udder of the dairy livestock based on the accessed image signal and the determined positions of the hind legs of the dairy livestock. The controller is further operable to determine, based on the image signal and the determined position of the udder of the dairy livestock, a spray position from which a spray tool may apply disinfectant to the teats of the dairy livestock.

Abstract: A motion path search device which searches for a motion path of a movable part of a robot capable of being taught a motion by direct teaching in which the robot is directly moved by an operator includes: a first space identification unit which identifies a space swept through by the movable part of the robot in the direct teaching; a second space identification unit which identifies a space swept through by at least a portion of a body of the operator in the direct teaching; a space combining unit which calculates, as an accessible space, a union of the space identified by the first space identification unit and the space identified by the second space identification unit; and a path search unit which searches for a motion path of the movable part within the accessible space calculated by the space combining unit.

Abstract: A system includes a rack with rows for storing drill pipe, and a moveable structure having a control support coupled to an upper portion and a lifting device coupled to a lower portion. The moveable structure travels along a guide for positioning adjacent any of the rows. The control support includes a pivoting actuator, a rotating actuator, an extension arm having a drill pipe capture actuator, and an extension actuator. The lifting device includes a lifting actuator that raises a stack of drill pipe. The system further includes a controller that interprets a control support state including actuator positions and a position index value, and records a position description including the control support state corresponding to the position index value. The controller interprets a position request signal and provides actuator control signals in response to the position request signal and the position description.

Abstract: A robot teach tool is provided that enables automatic teaching of pick and place positions for a robot. The automated robot teach tool obviates the need for manual operation of the robot during the teaching. The result is an automated process that is much faster, more accurate, more repeatable and less taxing on a robot operator.

Abstract: The dual arm robot includes a first arm including a first hand, a first visual sensor and a first force sensor, and a second arm including a second hand, a second visual sensor and a second force sensor, uses each visual sensor to detect positions of a lens barrel and a fixed barrel to hold and convey them to a central assembling area, uses the first visual sensor to measure a position of a flexible printed circuits to insert the flexible printed circuits into the fixed barrel, and uses outputs of the force sensors to fit and assemble the fixed barrel onto the lens barrel under force control. The dual arm robot converts a position coordinate of a workpiece detected by each visual sensor to a robot coordinate to calculate a trajectory of each hand and drive each arm, to thereby realize cooperative operation of the two arms.

Abstract: The present invention relates to a control method for the localization and navigation of a mobile robot and a mobile robot using the same. More specifically, the localization and navigation of a mobile robot are controlled using inertial sensors and images, wherein local direction descriptors are employed, the mobile robot is changed in the driving mode thereof according to the conditions of the mobile robot, and errors in localization may be minimized.

Abstract: If the rotation angle in a rotation direction allowed by a joint portion detected by the angle sensor is no more than a predetermined lower limit or no less than a predetermined upper limit, the controller maintains the released state of the brake mechanism so that the rotation of the workpiece in the direction is not restricted.

Abstract: A robotic arm position controlling device includes a number of gyroscope sensors, an A/D convertor electrically connected to the gyroscope sensors, a storage connected to the A/D convertor and a processor. The gyroscope sensors each is configured for detecting and measuring movements of an arm segment and generating an analog signal associated with the detected movement of the arm segment. The A/D convertor is configured to convert the analog signal to digital signal. The storage is configured to store the converted digital signal and position information associated with predetermined positions of the arm segments. The processor is configured to determine the position of each of the arm segments based upon the converted digital, and determine of the position of each of the arm segments is deviated from the corresponding predetermined position, and control the driving motors to move the deviated arm segment to the predetermined position.

Abstract: A steering robot for attachment to a vehicle's steering wheel has its own steering wheel attached to a rotor of an annular motor. The latter has a stator. Fitted to the forward (in use) side of rotor is an annular mounting plate, having three tabs extending slightly inwards for receiving mounting bolts. A clamp formed of a ring having equally spaced around it three slotted radial lugs. The lugs provide attachments for three clamping fixtures, by means of which the clamp can be attached temporarily to the vehicle's steering wheel. The stator has a pair of torque reaction lugs via which steering torque exerted by the motor to effect a steering manoeuvre under test or investigation can be reacted. The steering robot is open-centred, whereby steering wheel mounted controls can be operated normally.

Abstract: Motion information of a robot arm stored in a motion information database is acquired. A person manipulates the robot arm, and correction motion information at the time of the motion correction is acquired. An acquiring unit acquires environment information. A motion correction unit corrects the motion information while the robot arm is in motion. A control rule generating unit generates a control rule for allowing the robot arm to automatically operate based on the corrected motion information and the acquired environment information. The motion of the robot arm is controlled based on the generated control rule.

Abstract: The present invention relates to a wind turbine maintenance system and a method of maintenance therein. A wind turbine maintenance system is provided, for carrying out a maintenance task in a nacelle of a wind turbine, comprising a maintenance robot, further comprising a detection unit, for identifying a fault in a sub-system in the nacelle and generating fault information, a processor unit, adapted to receive fault information from the detection unit and control the maintenance robot to perform a maintenance task, a manipulation arm to perform the maintenance task on the identified sub-system. In another aspect, a method of carrying out a maintenance task in a wind turbine is provided.

Abstract: A robot system (10) for picking parts (41) from a bin (40) use the image from one or more cameras (38) to determine if the robot gripper (24) has picked one part or more than one part and uses one or more images from one or more cameras (38) to determine the position/orientation of a picked part. If the robot (12) has picked more than one part from the bin (40) then attempt is made to return the excess picked parts to the bin (40). The position/orientation of a picked part that does not meet a predetermined criteria is changed.

Abstract: A mobile robot apparatus includes a video recognition unit for recognizing a position of an opening button mounted around a door through video analysis after acquiring peripheral video information. Further, the mobile robot apparatus includes a mobile controller for performing an operation on the opening button at the position recognized by the video recognition unit to generate an opening selection signal, thereby allowing a door control apparatus to open the door according to the generated opening selection signal.

Abstract: An embodiment of a haptic gripper system includes a slave gripper device, a master gripper device, and a gripper motor controller. The gripper motor controller includes a slave encoder loop, a master encoder loop, and a haptic loop. The haptic loop is configured to receive a slave motor encoder loop output signal and a master motor encoder loop output signal, determine a difference signal between the slave motor encoder loop output signal and the master motor encoder loop output signal representative of a difference between a first relative angular position of a slave gripper motor and a second relative angular position of a master gripper motor, and provide a slave motor control signal to a slave motor control signal input, and provide a master motor control signal to the master motor control signal input.

Abstract: An exemplary system for sensing the state and position of a robot is provided. The system measures the acceleration and angular velocity of the robot and calculates a velocity, and a displacement of the robot. The state of the robot according to the acceleration and the velocity vector, of the robot, is determined. The system includes an alarm that activates according to the state of the robot. The system also compensates for any inaccuracy of the measured displacements.

Abstract: According to an embodiment, a target trajectory that takes into account the hardware constraints of a robot is generated, based on results obtained by calculating, temporally interpolating, and estimating image feature amounts from a captured image.

Abstract: An object gripping apparatus includes an image capturing unit for capturing a region including a plurality of works, an obtaining unit for obtaining distance information of the region, a measurement unit for measuring three-dimensional positions/orientations of a plurality of gripping-candidate works out of the plurality of works based on the image and distance information, thereby generating three-dimensional position/orientation information, a selection unit for selecting a gripping-target work based on the three-dimensional position/orientation information, a gripping unit for gripping the gripping-target work, and an updating unit for updating the three-dimensional position/orientation information by measuring three-dimensional positions/orientations of the gripping-candidate works at a time interval during gripping of the gripping-target work.

Abstract: Method and system for telematic control of a slave device (402) includes a hand control (101) type control interface which includes a hand grip (102) having an elongated body (202). One or more sensors (208) are provided for sensing a physical displacement of a trigger (212) disposed on the hand grip. An actuator or motor (206) is disposed in the hand grip that is responsive to a control signal from a control system (401) for dynamically controlling a force applied by the trigger to a user of the hand control interface.

Abstract: A robot and a method for planning a path of the robot. The method includes storing coordinates of a base cell in a queue structure, setting a plurality of cells adjacent to the base cell as scan cells, calculating a movement direction of the robot from the base cell to each of the scan cells, calculating movement cost of each of the scan cells according to the calculated movement direction, comparing the calculated movement cost and movement cost previously stored in each of the scan cells and determining whether or not coordinates of each of the scan cells are stored in the queue structure, and repeatedly performing a process of recording the movement direction and the movement cost in each of the scan cells and building a map of the movement space of the robot if the coordinates of each of the scan cells are stored in the queue structure.

Abstract: A vital sign measurement robot which automatically measures vital signs, and a control method thereof. The vital sign measurement robot includes an input unit to receive vital sign measurement instructions, an image recognition unit to detect a distance between the robot and a person, vital signs of whom are to be measured, and a measurement portion of the body of the person, when the vital sign measurement instructions are received, a control unit to move electrodes provided on hands so as to locate the electrodes at the measurement portion of the body of the person, when the distance between the robot and the person and the measurement portion of the body of the person are detected, and a vital sign measurement unit to measure a vital sign, when the electrodes are located at the measurement portion of the body of the person.

Abstract: A method to control medical equipment that moves along at least one axis or performs joint movement is provided. While the medical equipment is passively moved as operated by the operator, the operation intention of the operator is determined using a force sensor, a torque sensor, or the like, and motor control is performed taking into consideration the determined operation intention to reduce load (or drive power) of the operator. To accomplish this, the method determines a direction and magnitude of force that an operator applies to the medical equipment to move the medical equipment and generates auxiliary force having a magnitude proportional to the force applied by the operator and having the same direction as the direction of the force applied by the operator such that the medical equipment is easily moved.

Abstract: A robot arm, which is driven by an elastic body actuator and has a plurality of joints, is provided with an arm-end supporting member that supports the robot arm when made in contact with a supporting surface that is placed on an arm-end portion of the robot arm and a control unit that controls a force by which the arm-end supporting member and the supporting surface are made in contact with each other, and further controls a position and orientation of the arm-end portion of the robot arm.