Abstract: A robot arm including a first joint, a second joint, and a coupling element is provided. The first joint has a first inclined surface. The second joint is jointed to the first joint and has a second inclined surface. The coupling element has a third inclined surface and a fourth inclined surface opposite to the third inclined surface, wherein the third inclined surface contacts the first inclined surface, and the fourth inclined surface contacts the second inclined surface.

Abstract: This disclosure relates to a belt grinder includes frame and first grinding assembly. The first grinding assembly includes transmission roller set, grinding belt and adjusting assembly. The transmission roller set includes driving roller and driven roller. Both the driving roller and the driven roller are rotatably disposed on the frame. The grinding belt is installed over the driving roller and the driven roller. The adjusting assembly includes rotatable component and contact rollers. The rotatable component is rotatably disposed on the frame. Rotation axis of the rotatable component is parallel to rotation axis of the driving roller. The contact rollers are rotatably disposed on the rotatable component. Contact rollers are different in shape. The rotatable component is rotatable with respect to the frame so as to force one of the contact rollers to contact or to be separated from the grinding belt.

Abstract: A robot arm including a first joint, a second joint, and a coupling element is provided. The first joint has a first inclined surface. The second joint is jointed to the first joint and has a second inclined surface. The coupling element has a third inclined surface and a fourth inclined surface opposite to the third inclined surface, wherein the third inclined surface contacts the first inclined surface, and the fourth inclined surface contacts the second inclined surface.

Abstract: A robot arm calibration device is provided, which includes a light emitter, a light sensing module, a cooperative motion controller and a processing module. The light emitter is disposed on at least one robot arm to emit a light beam. The light sensing module is disposed on at least another robot arm to receive the light beam and the light beam is converted into a plurality of image data. The cooperative motion controller is configured to drive the light emitter and light sensing module on at least two robot arms to a corrected position and a position to be corrected, respectively. The processing module receives the image data and the motion parameters of the at least two robot arms to calculate an error value between the corrected position and the position to be corrected, and analyzes the image data to output a corrected motion parameter for modifying motion command.

Abstract: A method for controlling polishing and grinding is provided, including: generating an initial polishing and grinding trajectory for robot movements based on a three-dimensional contour of a work piece; adjusting the initial polishing and grinding trajectory based on a first optimized adjustment value and generating an optimized polishing and grinding trajectory; and evaluating the polishing and grinding quality of the work piece and using the polishing and grinding quality to generate a second optimized adjustment value.

Abstract: This disclosure relates to a belt grinder includes frame and first grinding assembly. The first grinding assembly includes transmission roller set, grinding belt and adjusting assembly. The transmission roller set includes driving roller and driven roller. Both the driving roller and the driven roller are rotatably disposed on the frame. The grinding belt is installed over the driving roller and the driven roller. The adjusting assembly includes rotatable component and contact rollers. The rotatable component is rotatably disposed on the frame. Rotation axis of the rotatable component is parallel to rotation axis of the driving roller. The contact rollers are rotatably disposed on the rotatable component. Contact rollers are different in shape. The rotatable component is rotatable with respect to the frame so as to force one of the contact rollers to contact or to be separated from the grinding belt.

Abstract: A robot arm control device includes a pressure sensing module, a workspace defining module and a control module. The pressure sensing module, arranged on a robot arm, detects whether an object hits or touches the robot arm to switch the operating mode of the robot arm. The workspace defining module includes a sensing region arranged on a peripheral area around the robot arm. The workspace defining module determines whether the object enters an operating space according to the position of the object in the sensing region, and sets the working range and the working mode of the robot arm according to which operating space the object has entered. The control module, connected to the robot arm, the pressure sensing module and the workspace defining module, switches the operating mode and outputs a motor driving signal to the robot arm according to the working mode of the robot arm.

Abstract: A robot arm calibration device is provided, which includes a light emitter, a light sensing module, a cooperative motion controller and a processing module. The light emitter is disposed on at least one robot arm to emit a light beam. The light sensing module is disposed on at least another robot arm to receive the light beam and the light beam is converted into a plurality of image data. The cooperative motion controller is configured to drive the light emitter and light sensing module on at least two robot arms to a corrected position and a position to be corrected, respectively. The processing module receives the image data and the motion parameters of the at least two robot arms to calculate an error value between the corrected position and the position to be corrected, and analyzes the image data to output a corrected motion parameter for modifying motion command.

Abstract: A control device of robot arm including a pressure sensing module and a control module is provided. The pressure sensing module, disposed on an operating portion of a robot arm, has a touch-sensing surface for detecting an operation command applied to the touch-sensing surface. The control module receives at least a pressure sensing signal outputted by the pressure sensing module and outputs a motor driving signal to the robot arm in response to the operation command. The touch-sensing surface includes a first touch-sensing region and a second touch-sensing region. The first touch-sensing region is for defining a first reference coordinate system satisfying a translational motion mode. The second touch-sensing region is for defining a second reference coordinate system satisfying a rotational motion mode. The control module controls the robot arm according to the operation command.

Abstract: A robot arm control device includes a pressure sensing module, a workspace defining module and a control module. The pressure sensing module, arranged on a robot arm, detects whether an object hits or touches the robot arm to switch the operating mode of the robot arm. The workspace defining module includes a sensing region arranged on a peripheral area around the robot arm. The workspace defining module determines whether the object enters an operating space according to the position of the object in the sensing region, and sets the working range and the working mode of the robot arm according to which operating space the object has entered. The control module, connected to the robot arm, the pressure sensing module and the workspace defining module, switches the operating mode and outputs a motor driving signal to the robot arm according to the working mode of the robot arm.

Abstract: A control device of robot arm including a pressure sensing module and a control module is provided. The pressure sensing module, disposed on an operating portion of a robot arm, has a touch-sensing surface for detecting an operation command applied to the touch-sensing surface. The control module receives at least a pressure sensing signal outputted by the pressure sensing module and outputs a motor driving signal to the robot arm in response to the operation command. The touch-sensing surface includes a first touch-sensing region and a second touch-sensing region. The first touch-sensing region is for defining a first reference coordinate system satisfying a translational motion mode. The second touch-sensing region is for defining a second reference coordinate system satisfying a rotational motion mode. The control module controls the robot arm according to the operation command.

Abstract: A mapping method is provided. The environment is scanned to obtain depth information of environmental obstacles. The image of the environment is captured to generate an image plane. The depth information of environmental obstacles is projected onto the image plane, so as to obtain projection positions. At least one feature vector is calculated from a predetermined range around each projection position. The environmental obstacle depth information and the environmental feature vector are merged to generate a sub-map at a certain time point. Sub-maps at all time points are combined to generate a map. In addition, a localization method using the map is also provided.

Abstract: A device for compressing a feature descriptor includes a non-uniform quantizer and a run-length encoder. The non-uniform quantizer accesses a source feature descriptor from a storage device, and non-uniformly quantizes the source feature descriptor having source vectors into an intermediate feature descriptor having intermediate vectors according to a vector default value. The run-length encoder executes run-length coding for the intermediate feature descriptor to generate a compressed feature descriptor.

Abstract: A body interactively learning method is disclosed, which comprises the steps of: turning on the power of a body interactively learning apparatus while selecting an operation mode for the same; attaching a motion sensor of the body interactively learning apparatus onto body of a user; using the motion sensor to detect vibrations of the body and consequently sending the detected vibration signals to a processing unit; enabling the processing unit to perform an evaluation for determining whether the vibration signals are valid.

Abstract: Provided is a system for localizing a carrier, estimating a posture of the carrier and establishing a map. The system includes: an inertial measurement device, measuring a motion state and a rotation state of the carrier; a vision measurement device disposed on the carrier for picturing an environment feature in an indoor environment where the carrier locates; and a controller receiving measuring results from the inertial measurement device and the vision measurement device to estimate a posture information, a location information and a velocity information of the carrier, and establishing a map having the environment feature. The controller estimates based on a corrected measuring result from one of the inertial measurement device and the vision measurement device, then controls the other one of the inertial measurement device and vision measurement device to measure, and accordingly corrects the posture, location and velocity information of the carrier and the map.

Abstract: An emotion abreaction device including a body, a control unit, a man machine interacting module and an emotion abreaction unit is provided. The control unit, the man machine interacting module and the emotion abreaction unit are disposed in the body. The man machine interacting module is electrically connected to the control unit for the user to select an emotion abreaction mode. The emotion abreaction unit is electrically connected to the control unit and has at least one sensor to measure force and/or volume for the user to abreact by knocking and/or yelling. Moreover, a using method of an emotion abreaction device includes turning on the emotion abreaction device, and then, responding to the user with a voice and/or an image according to the sensing result of the magnitude of the volume and/or the force after the user knocks and/or yells to an emotion abreaction unit of the emotion abreaction device.

Abstract: A method and a device for compressing a feature descriptor are disclosed. The device includes a non-uniform quantizer and a run-length encoder. The non-uniform quantizer accesses a source feature descriptor from a storage device, and non-uniformly quantizes the source feature descriptor having source vectors into an intermediate feature descriptor having intermediate vectors according to a vector default value. The run-length encoder executes run-length coding for the intermediate feature descriptor to generate a compressed feature descriptor.

Abstract: A method and an apparatus for estimating 3D attitude are disclosed. The method comprises following steps. A set of current angular velocity, a set of current magnetic flux and a set of acceleration of a carrier are sensed. A set of estimated attitude angles are estimated according to the set of current angular velocities, a set of history attitude angles and a motion model. A disturbance parameter is calculated according the set of current magnetic flux and a set of history magnetic flux. It is determined whether the disturbance parameter is more than a disturbance threshold or not. If yes, the set of estimated attitude angles are updated according to the set of current accelerations not the set of current magnetic flux. If not, the set of estimated attitude angles are updated according to the set of current accelerations and the set of current magnetic flux.

Abstract: An instant messaging interaction system and method work by: analyzing communicative information sent by a remote user to create emotional messages and analyzing information about the remote user's identity; storage in a storage module behavior weight value preset and corresponding to the information about the remote user's identity; determining, by a learning module, interactive responses according to the emotional messages and the behavior weight values; outputting, by an output module, the interactive responses; detecting if receiving a feedback signal from an local user; if the feedback signal is not received, the learning module stores the behavior weight value in the storage module; if the feedback signal is received, the feedback module generates a modification value corresponding to different levels of the feedback signal; generating, by the learning module and according to a detection result, modification values for modifying the behavior weight values.

Abstract: The present invention relates to an obstacle detection device, adapted for an autonomous mobile system, which comprises: a conducting wire, a first unit and a second unit. The first unit further comprises a first conducting part, electrically connected to an end of the conducting wire; and the second unit further comprises a second conducting part, electrically connected to another end of the conducting wire other than that connecting to the first conducting part. As an abnormality, such as the autonomous mobile system comes into contact with an obstacle, or misses a step, is happening and detected by the obstacle detection device, a reactive force will be generated to force the two conducting parts to contact with each other so as to enable an electrical conduction for issuing an electrical signal to the control unit of the autonomous mobile system and thus enabling the autonomous mobile system to react with respect to the abnormality.