Abstract: A method of planning works for robots includes creating a work plan for a plurality of robots, each having a work tool, sharing at at least one station a work to a plurality of work parts of the workpiece. The method includes the steps of calculating a distribution of the work parts to the robots, calculating, as a robot operation, a work order of the work parts and a moving path of the work tool for each of the robots based on the calculated work distribution, and calculating a disposed location of each of the robots with respect to the workpiece and a station where the robot is disposed so that an inter-robot interference does not occur during execution of the calculated robot operation.

Abstract: A robot system (1) includes the robot (10), a motion sensor (11), a surrounding environment sensor (12, 13), an operation apparatus (21), a learning control section (41), and a relay apparatus (30). The robot (10) performs work based on an operation command. The operation apparatus (21) detects and outputs an operator-operating force applied by the operator. The learning control section (41) outputs a calculation operating force. The relay apparatus (30) outputs the operation command based on the operator-operating force and the calculation operating force. The learning control section (41) estimates and outputs the calculation operating force by using a model constructed by performing the machine learning of the operator-operating force, the surrounding environment data, the operation data, and the operation command based on the operation data and the surrounding environment data outputted by the sensors (11 to 13), and the operation command outputted by the relay apparatus (30).

Abstract: Novel 4H-pyrrolo[1,2-a][1,4]benzodiazepine derivatives of the formula ##STR1## wherein at least one of R.sub.1, R.sub.2 and R.sub.3 represent lower alkyl and the remainder hydrogen, R.sub.4 represents hydrogen or lower alkyl, ring A optionally contains at least one substituent selected from halogen, nitro and trifluoromethyl, and ring B optionally contains at least one substituent selected from halogen, nitro, trifluoromethyl, lower alkyl and lower alkoxy; and novel intermediates thereof expressed by the formula ##STR2## wherein Z represents protected amino. Compounds of formula (I) are prepared by subjecting compounds of formula (II) to protective group-elimination and cyclization. The compounds of formula (I) and acid addition salts thereof have useful anti-anxietic, sedative, anti-convulsant, muscle relaxant and hypnotic, and their toxicity is low.