Abstract: A tele-operation assistance system includes: a motion acquisition unit configured to acquire information on a motion of an operator operating an end effector; an intention understanding unit configured to estimate a target object to be operated by the end effector and a task which is a method of operating the target object; an environmental situation determination unit configured to acquire environmental information of an environment in which the end effector is operated; and an operation amount determination unit determine an operation amount of the end effector. The operation amount determination unit estimates an operation distance to the target object based on information of the target object and the motion of the operator, determines an operation state of the end effector according to the estimated operation distance, and changes an input mode of an assistance to a tele-operation according to the operation state.

Abstract: A drive system is presented for controlling rotation of a sphere. The system facilitates holonomic motion of a drive with respect to a sphere such that a holonomic drive or drives may be maintained at a relative position with respect to a sphere. The motion of a sphere may be controlled by controlling the position of a drive with respect to the sphere. The drive may be controlled by way of a controller. A holonomic drive may be urged against a sphere by way magnetic interaction of the holonomic drive and a second structure. Also, a support structure is facilitated that allows a sphere to pass through a support column without breaks or interruptions in the sphere.

Abstract: A drive system is presented for controlling rotation of a sphere. The system facilitates holonomic motion of a drive with respect to a sphere such that a holonomic drive or drives may be maintained at a relative position with respect to a sphere. The motion of a sphere may be controlled by controlling the position of a drive with respect to the sphere. The drive may be controlled by way of a controller. A holonomic drive may be urged against a sphere by way magnetic interaction of the holonomic drive and a second structure. Also, a support structure is facilitated that allows a sphere to pass through a support column without breaks or interruptions in the sphere.