Abstract: An operational space physical quantity calculation apparatus computes a physical quantity in an operational space describing a relationship between a force and acceleration acting on a link structure including a plurality of linked rigid bodies. The operational space physical quantity calculation apparatus includes a forward dynamics calculating unit configured to perform a forward dynamics calculation on the basis of force information about a force acting on the link structure in order to obtain accelerations occurring at certain points of the link structure and an operational space physical quantity computing unit configured to compute an inverse operational space inertia matrix and an operational space bias acceleration by causing the forward dynamics calculating unit to perform the forward dynamics calculation using a kinetic model of the link structure.

Abstract: A sound effect generation device for generating a sound effect corresponding to a physical interaction between objects in a virtual space in which a plurality of virtual objects coexists, includes interaction detection means for detecting an object on which the physical interaction occurs in the virtual space, mechanical quantity calculation means for calculating mechanical quantity acting on the object in accordance with the interaction using a mechanical model for determining, based on physics, behavior between the objects on which the physical interaction acts, and sound effect generation means for generating the sound effect caused in the object by the interaction using the calculated mechanical quantity.

Abstract: Provided is a torque sensor including a first rotating body, a second rotating body, a strain body, and a detection element. The first rotating body is rotatable around an input shaft. The second rotating body is rotatable around an output shaft. The strain body includes a first engaging portion. The first engaging portion is separated from at least one of the rotating bodies in a first direction parallel to the input shaft, a second direction perpendicular to the first direction, and a third direction around the input shaft and is capable of engaging to the at least one of the rotating bodies in the third direction. The strain body transmits a rotational torque to the third direction between the first rotating body and the second rotating body. The detection element is provided to the strain body to measure a strain of the strain body due to the rotational torque.

Abstract: There is provided a gripping judgment apparatus including a plan unit that generates a target orbit for moving a gripping unit in a state in which an object as a gripping target is gripped by the gripping unit, an observation unit that measures movement of the gripping unit driven based on the target orbit, a gripping state judgment unit that judges whether or not an object as a gripping target is grippable based on a target value of the gripping unit derived from the target orbit and an actual measured value measured by the observation unit, and a gripping state change unit that changes a gripping state of an object gripped by the gripping unit based on a judgment result obtained by the gripping state judgment unit.

Abstract: There is provided a robot device including a behavior plan unit that detects a current status of the robot device or an external environment and that decides one behavior plan of a plurality of behavior plan candidates as a future behavior plan, based on the current status, and a display control unit that decides one display pattern of a plurality of previously prepared display pattern candidates as display content to be displayed on a remote control device that remotely controls the robot device based on the decided behavior plan and that cause the remote control device to display the display pattern decided by the behavior plan unit.

Abstract: Provided is a control apparatus comprising an executing unit for allowing a movable body to perform a predetermined process, a storage unit for storing an environment map of a movable area of the movable body, a detection unit for detecting information on the surroundings of the movable body, an update unit for updating the environment map based on the information on the surroundings of the movable body, which is detected by the detection unit, and an acquisition unit for acquiring instruction information representing an instruction of a user according to user input, wherein the executing unit allows the movable body to perform the process based on the instruction information with reference to the environment map, and the update unit updates the environment map based on the instruction information and the process performed by the movable body based on the instruction information.

Abstract: A grasping apparatus includes a base unit, left and right parallel links, and a driving unit that is housed in the base unit and drives the first link of the right parallel link and the first link of the left parallel link in the open/close direction. Each of the left and right parallel links has a first link attached pivotably in an open/close direction about a base shaft of the base unit, a second link attached pivotably in the open/close direction about an auxiliary shaft located on an outer side in the open/close direction, a finger unit supported pivotably at an end of the first link and an end of the second link, and a claw projecting toward the inner side in the open/close direction and disposed along an end face of the grasping surface of the finger unit of each of the left and right parallel links.

Abstract: The lumbar part of a robot as a controlled-object point where the mass is moved to the largest extent is set as the origin of a local coordinate, an acceleration sensor is disposed at the controlled-object point to directly measure the attitude and acceleration at that position to control the robot to take a stable posture on the basis of a ZMP. Further, at each foot which touches the walking surface, there are provided a floor reaction force sensor and acceleration sensor to directly measure a ZMP and force, and a ZMP equation is formulated directly at the foot nearest to a ZMP position. Thus there can be implemented a stricter and quick control of the robot for a stable posture.

Abstract: The lumbar part of a robot as a controlled-object point where the mass amount becomes maximum is set as the origin of a local coordinate, an acceleration sensor is disposed at the controlled-object point to directly measure the attitude and acceleration at that position to control the robot to take a stable posture on the basis of a ZMP. Further, at each foot which touches the walking surface, there are provided a floor reaction force sensor and acceleration sensor to directly measure a ZMP and force, and a ZMP equation is formulated directly at the foot nearest to a ZMP position. Thus there can be implemented a stricter and quick control of the robot for a stable posture.

Abstract: A locomotion control system is constructed to input the quantity of materials in the real world, such as the quantity of motion state of a robot, external force and external moment, and environmental shapes, measured with sensors or the like. By integrating all calculations for maintaining a balance of the body into a single walking-pattern calculating operation, both a locomotion generating function and an adaptive control function are effectively served, the consistency of dynamic models is ensured, and interference between the dynamic models is eliminated. Calculations for generating a walking pattern of the robot can be performed in an actual apparatus and in real time in a manner in which parameters, such as a boundary condition concerning the quantity of motion state, external force and external moment, and the trajectory of the sole, are settable.

Abstract: In a robot apparatus having a base unit, a wheel unit of an opposed-two-wheel type mounted on the base unit and having driving wheels drivable so as to face each other, and an upper-body unit provided on an upper portion of the base unit and configured by concatenating one or more joints; a robot apparatus includes an opposed-two-wheel equivalent model, a robot-state observing unit, a control unit performing a control arithmetic operation for the opposed-two-wheel equivalent model, a transforming unit transforming a part of control target values calculated by the control unit to a control target value for the wheel unit, and a joint control unit controlling a joint-driving actuator of the wheel unit and also controlling a joint-driving actuator other than the joint-driving actuator.

Abstract: A torque measuring apparatus includes: a flexure element that is attached between an output shaft of an actuator or a speed reducer as a torque measurement object and a load object, and includes a main flexure part displaced mainly around the output shaft according to a torque applied from the load object, and an auxiliary flexure part to remove a displacement component other than the displacement of the main flexure part around the output shaft; and at least one pair of strain gauges attached to the main flexure part. The torque is measured based on electric signals outputted from the respective strain gauges.

Abstract: An information input/output device includes: a position input unit configured to designate a position by a user in a prescribed operation area Sd in real space; a designated position measurement unit configured to measure a designated position “rd” in the operation area Sd, which is designated by the user in the position input unit; an operation area offset amount determination unit configured to determine an offset amount “?rv0” of an origin position “rv0” of an operation area Sv in virtual space based on the measured position “rd” in the operation area Sd; and a designated position determination unit configured to determine a designated position “rv” in virtual space which corresponds to the position in real space designated by the user through the position input unit based on the measured position “rd” in the operation area Sd, the origin position “rv0” of the operation area Sv in virtual space and the determined offset amount “?rv0”.

Abstract: There is provided an actuator control device for force-controlling a joint driving actuator according to a commanded joint force command value ?a. The actuator control device includes a joint value detecting means for detecting a joint value q at an output stage of the actuator, an action force detecting means for detecting an action force ?e in a joint driving direction at the output stage of the actuator, and a driving force determining means for determining an instructed driving force ? to the actuator, on the basis of an ideal response model of the actuator which specifies the relationship of a joint value acceleration target value achieved as the actuator responds ideally when the joint force command value ?a, the action force ?e, and a joint value velocity obtained by time-differentiating the joint value q are given.

Abstract: There is provided a control system which controls a link structure constructed by connecting a plurality of rigid body links and driven by making a joint actuator generate an actuator force. The control system includes a mechanical model including geometric parameters and dynamical parameters of the link structure, a virtual external force calculating means for calculating a virtual force acting on the mechanical model of the link structure, a contact part detecting means for detecting contact parts between the link structure and the outside, and an actual force converting means for converting the virtual force calculated by the virtual external force calculating means into an external force capable of existing actually and the actuator force of the joint actuator, using contact information detected by the contact part detecting means. The joint actuator is made to generate the actuator force output by the actual force converting means.

Abstract: A force/tactile feedback device feeding back a force sense to a fingertip of an operator includes a fingerstall to which the fingertip of the operator is inserted, a position feedback means for feeding back a position to the fingertip held by the fingerstall, a fingertip contact point feedback means for feeding back a fingertip contact point to the fingertip held by the fingerstall and an unnecessary moment removal means for supporting the fingertip contact point feedback means so that unnecessary moment is not generated at a tip portion of the position feedback means.

Abstract: A dynamics simulation device for dynamically simulating physical interactions acting on a plurality of objects under an environment where the objects coexist is disclosed. The device includes: nominal value providing means for providing a nominal value ?n of an operational space inertial matrix; nominal inertial force calculating means for calculating a nominal inertial force acting on the operational space by the use of the nominal value ?n of the operational space inertial matrix and a target acceleration value of the physical quantity x; a disturbance observer estimating forces other than the nominal inertial force acting on the operational space as a disturbance; and means for calculating the force f acting on the physical quantity on the basis of the nominal inertial force and the estimated disturbance fd.

Abstract: A force/tactile display that presents force/tactile sensation that occurs in response to physical interaction with each of a plurality of objects present in a virtual environment includes an action point defined on the mechanical structure, the action point presenting the force/tactile sensation, an applied force control means for controlling the force exerted on the action point, and an action point control means for controlling the position of the action point.

Abstract: A motion equation with a boundary condition regarding a future center-of-gravity horizontal trajectory of a robot is solved so that the moment around a horizontal axis at a point within a support polygon is zero when the robot is in contact with a floor or so that horizontal translational force is zero when the robot is not in contact with the floor and so that connection is made to a current horizontal position and speed of the center of gravity. In addition, a motion equation with a boundary condition regarding a future center-of-gravity vertical trajectory of the robot is solved so that vertical translational force acting upon the robot other than gravity is zero when the robot is not in contact with the floor and so that connection is made to a current vertical position and speed of the center of gravity.

Abstract: An external force estimation system for estimating an external force acting upon a robot apparatus which includes a machine body which in turn includes a plurality of movable joints is disclosed which includes a distribution type contacting state detection section, an actuator current state measurement section, a motion state measurement section, a motion equation setting section, a known term calculation section, and an external force estimation section.