Abstract: A control system for a manipulator capable of controlling the movement of a manipulator in such a manner that, when bringing an object grasped by the manipulator into physical contact with a nearby object, the grasped object comes into contact with the nearby object with an appropriate contact force are provided. The control system for a manipulator includes an arm, and a hand attached to the arm and configured to grasp an object to be grasped. The control system includes an environment recognition unit configured to recognize a nearby object in an environment around the manipulator, an arm control unit configured to control a movement of the arm, and a hand control unit configured to predict a contact state between the grasped object and the nearby object, and adjust a grasping force of the hand according to the prediction of the contact state.

Abstract: A control system, a control method, and a program for causing a robot to perform a plurality of types of operations using handwritten input information are provided. A control system causes a robot to perform an operation based on handwritten input information input to an interface. The control system includes: a handwritten input information reception unit that displays a captured image obtained by capturing an environment in which the robot is located and receives an input of the handwritten input information to the displayed captured image; and a switching unit that switches a plurality of input modes of the handwritten input information for causing the robot to perform different types of operations.

Abstract: A control system, a control method, and a program that interact with a user with regard to correction of handwritten input information are provided. A control system determines an operation to be performed by a robot based on handwritten input information input to an interface and controls the operation performed by the robot. The control system includes: a handwritten input information reception unit that receives an input of the handwritten input information; a determination unit that determines whether or not the handwritten input information needs to be corrected based on feasibility or efficiency of the operation to be performed based on the handwritten input information; and a presentation unit that presents information about the correction of the handwritten input information to a user when the handwritten input information needs to be corrected.

Abstract: A robot control system includes: an impedance control unit configured to, while a robot holding a container with an arm is moving at a first speed, make prediction about displacement of a liquid in the container that occurs when a speed of the robot is changed to a second speed higher than the first speed, and control a magnitude of a first impedance of the arm in a horizontal direction based on a result of the prediction; and a movement control unit configured to change the speed of the robot to the second speed in response to reduction in the first impedance.

Abstract: A remote control system includes: a recognition unit configured to recognize, based on a shot image objects that can be grasped; an image adjustment unit configured to cause an imaging unit to shoot, when a part of an area of a shot image designated by handwritten information is a predetermined outer peripheral area of the shot image, an image of a second predetermined area including the part of the area of the shot image designated by the handwritten information and an area adjacent to the first predetermined area, and cause the operation terminal to display the shot image of the second predetermined area; and an estimation unit configured to estimate an object to be grasped which has been requested to be grasped and estimate a content of a motion with regard to the object to be grasped which is requested to be performed by the device to be operated.

Abstract: A remote control system includes: a recognition unit configured to recognize, based on a shot image, objects that can be grasped, and movable and immovable areas of a device to be operated; an operation terminal configured to receive handwritten information; and an estimation unit configured to estimate an object to be grasped requested to be grasped and estimate a content of a motion with regard to the object to be grasped which is requested to be performed by the device to be operated, in which the estimation unit estimates, a conveyance route positioned in the movable area of the device to be operated among the conveyance routes as a moving route of the device to be operated and estimates a conveyance route positioned in the immovable area of the device to be operated as a moving route of an end effector that grasps the object to be grasped.

Abstract: The operation system controls a moving object selected from a plurality of moving objects. The operation system includes a display unit that displays display information including an image of the surroundings of the moving body, and a switching unit that switches the control target from the first moving body to the second moving body by using the operation information indicating the operation of the moving body. The switching unit switches the control target from the first moving body to the second moving body in at least one of a case where the second moving body starts the operation based on the operation information of the first moving body, a case where the first moving body starts the operation based on the operation information of the second moving body, and a case where the display unit displays an image adjusted in accordance with the operation information of the first moving body.

Abstract: To be able to favorably shoot an object-to-be-shot displayed on a display unit of a remote control-type robot. A shooting system includes a remote control-type robot including a display unit for displaying an image of an object-to-be-shot and that is operated remotely, first image capturing device for shooting the remote control-type robot, and image control device for performing at least one of: replacing the image of the object-to-be-shot displayed on the display unit shot by the first image capturing device; adjusting the image of the object-to-be shot displayed on the display unit; changing the position of the display unit; and changing the posture of the display unit so that the image of the object-to-be-shot displayed on the display unit is made clearer when the display unit of the remote control-type robot falls within a shooting range of the first image capturing device.

Abstract: A regulated region management system includes one or more processors. The one or more processors are configured to: acquire a hand-drawn input image input to an environment map; and estimate a regulated region based on the environment map and the hand-drawn input image. The regulated region is a region to which entry of a mobile body is regulated. The one or more processors are configured to: transmit regulated region information that indicates the regulated region to the mobile body when the mobile body is not remotely manipulated using a manipulation terminal; and transmit the regulated region information to the manipulation terminal when the mobile body is remotely manipulated using the manipulation terminal.

Abstract: To be able to favorably shoot an object-to-be-shot displayed on a display unit of a remote control-type robot. A shooting system includes a remote control-type robot including a display unit for displaying an image of an object-to-be-shot and that is operated remotely, first image capturing device for shooting the remote control-type robot, and image control device for performing at least one of: replacing the image of the object-to-be-shot displayed on the display unit shot by the first image capturing device; adjusting the image of the object-to-be shot displayed on the display unit; changing the position of the display unit; and changing the posture of the display unit so that the image of the object-to-be-shot displayed on the display unit is made clearer when the display unit of the remote control-type robot falls within a shooting range of the first image capturing device.

Abstract: A trajectory tracking control system according to the invention controls a robot (1) to track a target path (100). In this system, the target path (100) is approximated to an arc, and the curvature of the arc is calculated. At this time, the curvature is calculated in accordance with the moving speed of the robot (1). Then, the control of the robot (1) is set in accordance with the calculated curvature.

Abstract: While calibrating the position of a robot having a gyro, the robot emits a beam of light to a target wall surface, and the position of a laser point on the target wall surface illuminated by the beam of light is measured. The measured position is obtained as an initial value (S10, S12), and a start of calibration is indicated (S14, S16). Then, a calibration period is reset (S18) and the timekeeping process of the calibration period starts. The values detected by the gyro are consecutively obtained by sampling for a predetermined calibration period (S20). If a disturbance occurs while the values are obtained, an alarm is output and calibration restarts. Once the calibration period elapses without any disturbance, a calibrated value is set or determined based on the detected values obtained during the calibration period (S26, S28).

Abstract: A trajectory tracking control system according to the invention controls a robot (1) to track a target path (100). In this system, the target path (100) is approximated to an arc, and the curvature of the arc is calculated. At this time, the curvature is calculated in accordance with the moving speed of the robot (1). Then, the control of the robot (1) is set in accordance with the calculated curvature.

Abstract: This invention relates to an apparatus for tensioning reinforcements in the process of manufacturing concrete poles and the like having the structure in which a tension plate of a circular ring shape is fixed to an end plate for setting reinforcements placed inside a mold in a freely slidable manner, the inner surface of the tension plate is engaged with a jack rod, the outer periphery of the tension plate is provided with a plurality of protuberances whose thickness is less than that of the tension plate and which are spaced at equal intervals thereabout, a set ring of a circular ring shape is provided for contacting a flange part at the end of the mold, and the inner surface of the set ring is contacted with the outer periphery of the tension plate and has a plurality of concave parts into which the said protuberances can be disposed; and additional structure by which methods of engaging the tension plate with the jack rod and disengaging the plate from the rod are able to be accomplished in different ways.

Abstract: This invention relates to a method of inserting tension wires in the process of wire assembling for a concrete pole or pile characterized in that forward ends of a required number of tension wires are clamped together by a chuck, and the chuck is inserted from one end of a wire cage to the other end and interiorly thereof, so that a number of tension wires can be inserted into the wire cage at one time.

Abstract: This invention relates to an apparatus for cutting away rivets of tensioned reinforcements which are protruding beyond the surface of a tension plate used for tensioning the reinforcements in order to increase the strength of a concrete product, characterized in that a chisel, for cutting rivets formed at the end of the tensioned reinforcements, is provided in such a manner that it can slide along the normal line of the tension plate and in contact with the surface of the tension plate, the chisel being interlocked with a fluid-pressure sliding mechanism, and further an immovable part of the mechanism is engaged with a part of the tension plate so that the counter force against the cutting by the chisel is obtained from the tension plate.