Abstract: An information processing apparatus (30) includes: an operation control unit (321) that operates at least one of a first finger and a second finger to change contact positions with a target object in a state where the first finger and the second finger grip the target object; and an estimation unit (322) that estimates a shape of the target object on a basis of a relationship between the contact positions and postures of the first finger and the second finger.

Abstract: There is provided is a robot arm apparatus including an arm unit made up of a plurality of links joined to each other by one or a plurality of a joint unit, the arm unit being connectable to an imaging unit; and a drive control unit that controls driving of the arm unit by causing each joint unit to be driven cooperatively. The drive control unit uses relative position information of a reference position with respect to the arm unit, the relative position information being based on a state of the arm unit and distance information about a distance between the imaging unit and the reference position, to control the driving of the arm unit in a manner that the reference position is positioned on an optical axis of the imaging unit.

Abstract: A medical observation system includes a multi-link structure in which a plurality of links is mutually coupled by joint parts, a medical observation apparatus attached on the multi-link structure, a control part configured to control the multi-link structure or the medical observation apparatus, and a user interface part by which a user inputs an instruction to change a visual field of the medical observation apparatus. When a user instructs to move a visual field of the medical observation apparatus vertically or horizontally, to rotate an oblique-viewing endoscope, or to change a magnification of the visual field via the user interface part, the control part controls the multi-link structure or the medical observation apparatus.

Abstract: There is provided a control system for controlling a surgical arm device of a multi-link structure in which a plurality of links is coupled together by a joint unit in a force control mode. In generalized inverse dynamics, the control system sets a motion purpose and a constraint condition in an operation space describing an inertia of force acting on a multi-link structural body and an acceleration of the multi-link structural body, and for implementing an operation space acceleration indicating the motion purpose, calculates a virtual force acting on the operation space on the basis of a motion equation relating to the operation space including a term of an operation space bias acceleration in consideration to gravity compensation according to inclination information of the surgical arm device, and calculates a torque command value for a joint unit on the basis of a real force converted from the virtual force.

Abstract: A data generation apparatus according to one embodiment of the present disclosure includes: a first graph generator that generates a first graph representing a structure of a link mechanism; and a second graph generator that generates a second graph representing an interlocking relationship between a driving joint and a driven joint, the driving joint and the driven joint being included in the link mechanism, the driven joint being driven in a manner that the driven joint interlocks with the driving joint.

Abstract: There is provided a control system for controlling a surgical arm device of a multi-link structure in which a plurality of links is coupled together by a joint unit in a force control mode. In generalized inverse dynamics, the control system sets a motion purpose and a constraint condition in an operation space describing an inertia of force acting on a multi-link structural body and an acceleration of the multi-link structural body, and for implementing an operation space acceleration indicating the motion purpose, calculates a virtual force acting on the operation space on the basis of a motion equation relating to the operation space including a term of an operation space bias acceleration in consideration to gravity compensation according to inclination information of the surgical arm device, and calculates a torque command value for a joint unit on the basis of a real force converted from the virtual force.

Abstract: An information processing device (10) includes a sensing section (140) that senses a pressure variation of a fluid filling a deformable filled section (130) that is provided to a portion of a leg of a mobile body (100) that is in either a contact state or a non-contact state at which portion the leg contacts an external environment, and a determining section (150) that determines a state of the leg of the mobile body (100) on the basis of the pressure variation of the fluid sensed by the sensing section (140).

Abstract: To accurately predict a sensor value even in the case where external force is received. A control apparatus according to the present disclosure includes a prediction section that, in an actuator including a torque sensor that detects torque generated at a driving shaft, and an encoder that detects a rotational angle of the driving shaft, predicts a detection value of the encoder on a basis of a detection value of the torque sensor, or predict the detection value of the torque sensor on a basis of the detection value of the encoder, and a trouble determination section that compares a prediction value predicted by the prediction section with an actually measured value of the torque sensor or the encoder to perform trouble determination on the torque sensor or the encoder.

Abstract: Provided is an image processing device including: an image processing unit that generates image data for output from a captured image of an inside of a body cavity of a patient photographed by an endoscope. The image processing unit generates the image data in a manner that, when a lens barrel of the endoscope is moved in an optical axis direction of an objective lens during photographing, a display range in the captured image that is a range expressed in a display image displayed on a display device does not change, during the movement and after the movement, from a display range before the movement.

Abstract: The present technology relates to a control device, a control method, and a program that allow notification of an abnormality occurring in a robot to be given to a user in an easy-to-check manner. A control device according to one aspect of the present technology includes: an abnormality detection unit that detects an abnormality that has occurred in a predetermined part of a robot; and an attitude control unit that controls an attitude of the robot so that the predetermined part in which the abnormality has occurred is within the angle of view of a camera. The present technology can be applied to a robot capable of making autonomous motions.

Abstract: A robot (1) includes: a main body (10) including a hollow portion (110) that is a hollow space penetrating the main body (10) in an up-down direction, the main body (10) being configured to lift and support a support object (30) inserted in the hollow portion (110) by moving in the up-down direction; and a movable member (200) configured to move the main body (10) at least in the up-down direction by operating a leg (20).

Abstract: [Problem] It becomes possible to switch the operation controlling entity while maintaining continuity in the tasks. [Solution] A control device includes a driving control unit that drives a robot device based on one of a first-type driving instruction and a second-type driving instruction, at least one of which is sent from a distant location from the robot device; and a transition control unit that switches a driving instruction for driving the robot device from the first-type driving instruction to the second-type driving instruction. The transition control unit switches the driving instruction from the first-type driving instruction to the second-type driving instruction via a transition driving instruction generated based on the first-type driving instruction and the second-type driving instruction.

Abstract: There is provided an information processing device to derive a reliable answer from answers to the question received from a plurality of robot devices. The information processing device includes a weight management unit that determines, with respect to an answer to a question obtained from each of a plurality of respondent robots that have received the question and meta information of the answer, weighting of the answer based on the meta information of the answer, and a final answer determination unit that derives, based on the weighting of the answer, a final answer to the question from the respective answers from the plurality of respondent robots.

Abstract: There is provided a control device, a control method, and a program that can prevent failure of an operation of a robot. The control device according to an aspect of the present technology includes a state transition determination section that controls an operation of a robot to perform a predetermined process before a task results in failure in a case where a state transition of the robot in performing the task follows a failure state transition that is preset as a state transition that results in the failure of the task. The present technology can be applied to a robot capable of autonomous operation.

Abstract: [Problem] A surgical apparatus of the related art controls only the cropping position of a captured image, and thus only executes a limited range of image control in laparoscopic surgery. [Solution] A medical information processing apparatus including: an image control section that controls processing of a captured image from a camera; and an arm control section that controls a motion of an arm that supports the camera. One of the image control section and the arm control section executes control on a basis of control information from another control section.

Abstract: An arm control method including determining, using a processor, whether or not there is an abnormality in an arm that operates by being driven by an actuator in a state in which the arm is fixed by a brake mechanism, to make it possible to determine whether or not there is an abnormality in an arm in a state in which the arm is fixed by a brake mechanism. Therefore, it is possible to more safely determine whether or not there is an abnormality in the arm. In addition, it is possible to more reliably prevent the arm from performing an abnormal operation.

Abstract: A robot arm apparatus is provided and includes: an arm unit made up of a plurality of links joined to each other by one or a plurality of a joint unit; and a driving control unit that drives the arm unit by controlling driving of the joint unit. If a malfunction is detected in at least one of the joint unit, the driving control unit controls the driving of the joint unit in a state in which a certain restriction is imposed on motion of the arm unit, and drives the arm unit to avoid the malfunction.

Abstract: A robot arm apparatus according to the present disclosure includes: one or a plurality of a joint unit that joins a plurality of links constituting a multi-link structure; an acquisition unit that acquires an on-screen enlargement factor of a subject imaged by an imaging unit attached to the multi-link structure; and a driving control unit that controls driving of the joint unit based on a state of the joint unit and the enlargement factor.

Abstract: There is provided is a robot arm apparatus including an arm unit made up of a plurality of links joined to each other by one or a plurality of a joint unit, the arm unit being connectable to an imaging unit; and a drive control unit that controls driving of the arm unit by causing each joint unit to be driven cooperatively. The drive control unit uses relative position information of a reference position with respect to the arm unit, the relative position information being based on a state of the arm unit and distance information about a distance between the imaging unit and the reference position, to control the driving of the arm unit in a manner that the reference position is positioned on an optical axis of the imaging unit.

Abstract: There is provided a robot arm apparatus including an arm unit made up of a plurality of links joined to each other by one or a plurality of a joint unit, the arm unit being connectable to an imaging unit; and a drive control unit that controls driving of the arm unit by causing each joint unit to be driven cooperatively. The drive control unit uses relative position information of a reference position with respect to the arm unit, the relative position information being based on a state of the arm unit and distance information about a distance between the imaging unit and the reference position, to control the driving of the arm unit in a manner that the reference position is positioned on an optical axis of the imaging unit.