Abstract: Provided is a robot apparatus including actuators for driving joint shafts and measuring at least one of a joint angle and a joint angle speed of each of the joint shafts, and a central control part for controlling each of the actuators, wherein the central control part performs a periodic communication at predetermined control periods and the periodic communication includes transmitting a desired control value from the central control part to each of the actuators and transmitting a measured value from each of the actuators to the central control part, the central control part stops the periodic communication in response to an occurrence of an actuator that has failed to receive the measured value during a given period of time, and each of the actuators performs a safety stop in response to an event where the actuator has not received the desired control value during a given period of time.

Abstract: Provided is a torque detection apparatus including a base portion, a drive portion, and a detection portion. The drive portion includes a rotor having a main axis in a direction of a first axis, and a stator configured to rotate the rotor around the main axis. The detection portion includes a strain body and a detection element. The strain body includes a first end portion to be fixed to the base portion and a second end portion to be fixed to the rotor, and is arranged concentrically with the rotor. The detection element is provided to the strain body so as to detect a strain of the strain body around the first axis with respect to the base portion.

Abstract: A detecting device including a pressure sensor that is deformed by a load from an outside and causes stress dispersion includes a slip detecting unit that calculates a pressure center position using a pressure value detected by the pressure sensor, calculates a movement value of the calculated pressure center position using a temporal change of the pressure center position, and detects a slip on the basis of the calculated movement value of the pressure center position. The pressure sensor has a multilayer structure in which two detecting units that detect pressure are arranged to hold a viscoelastic body made of a viscoelastic material that is deformed by a load from the outside.

Abstract: There is provided a robot device including an instruction acquisition unit that acquires an order for encouraging a robot device to establish joint attention on a target from a user, a position/posture estimation unit that estimates a position and posture of an optical indication device, which is operated by the user to indicate the target by irradiation of a beam, in response to acquisition of the order, and a target specifying unit that specifies a direction of the target indicated by irradiation of the beam based on an estimation result of the position and posture and specifies the target on an environment map representing a surrounding environment based on a specifying result of the direction.

Abstract: There is provided a robot device including an irradiation unit that irradiates pattern light to an external environment, an imaging unit that acquires an image by imaging the external environment, an external environment recognition unit that recognizes the external environment, an irradiation determining unit that controls the irradiation unit to be turned on when it is determined that irradiation of the pattern light is necessary based on an acquisition status of the image, and a light-off determining unit that controls the irradiation unit to be turned off when it is determined that irradiation of the pattern light is unnecessary or that irradiation of the pattern light is necessary to be forcibly stopped, based on the external environment.

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: A detecting device including a pressure sensor that is deformed by a load from an outside and causes stress dispersion includes a slip detecting unit that calculates a pressure center position using a pressure value detected by the pressure sensor, calculates a movement value of the calculated pressure center position using a temporal change of the pressure center position, and detects a slip on the basis of the calculated movement value of the pressure center position. The pressure sensor has a multilayer structure in which two detecting units that detect pressure are arranged to hold a viscoelastic body made of a viscoelastic material that is deformed by a load from the outside.

Abstract: A control device includes a force detector configured to detect a force in a normal direction and a force in a shearing direction of fingertips of a robot hand device respectively as a normal force and a shearing force, and an object detector configured to calculate a friction coefficient using the normal force and the shearing force detected by the force detector and to detect whether or not a thin-film object having a maximum friction coefficient different from a maximum stationary friction coefficient between the fingertips is grasped between the fingertips on the basis of the calculation result.

Abstract: A detecting device includes a viscoelastic magnet obtained by kneading and molding a magnet material and a viscoelastic material and a magnetic-flux detecting unit that detects a change in a magnetic flux density vector due to deformation of the viscoelastic magnet.

Abstract: A detecting device includes a viscoelastic magnet obtained by kneading and molding a magnet material and a viscoelastic material and a magnetic-flux detecting unit that detects a change in a magnetic flux density vector due to deformation of the viscoelastic magnet.

Abstract: A control device that controls grip of an object is disclosed. The control device includes: detecting means for detecting a slip of the object and outputting a slip detection value; change-value calculating means for calculating, on the basis of the slip detection value, a change value for changing a command value, which sets gripping force for the object, to magnitude for resting the object; suppression-value calculating means for calculating, on the basis of the slip detection value, a suppression value for suppressing the command value to necessary minimum magnitude for resting the object; and setting means for setting the magnitude of the command value on the basis of the change value and the suppression value.

Abstract: A detecting device including a pressure sensor that is deformed by a load from an outside and causes stress dispersion includes a slip detecting unit that calculates a pressure center position using a pressure value detected by the pressure sensor, calculates a movement value of the calculated pressure center position using a temporal change of the pressure center position, and detects a slip on the basis of the calculated movement value of the pressure center position. The pressure sensor has a multilayer structure in which two detecting units that detect pressure are arranged to hold a viscoelastic body made of a viscoelastic material that is deformed by a load from the outside.

Abstract: A detecting device includes a viscoelastic magnet obtained by kneading and molding a magnet material and a viscoelastic material and a magnetic-flux detecting unit that detects a change in a magnetic flux density vector due to deformation of the viscoelastic magnet.