Abstract: A gripping control device according to the present disclosure includes: a detector that detects displacement in a normal direction of each of a plurality of elastic bodies each having a curved surface shape, the plurality of elastic bodies provided for each of a plurality of fingertips that is in contact with a gripped object; and a calculation section that calculates a contact surface normal of each of the fingertips to the gripped object on the basis of a result of detection by the detector.

Abstract: There is provided an information processing apparatus which includes a creation unit and a processing unit. The creation unit is configured to create support information for supporting at least one of construction and maintenance of a database on the basis of first information including a representative question and an answer sentence associated with the representative question and stored in the database stored in a storage unit and second information indicating a history of reception with respect to a user. The processing unit is configured to execute processing of performing at least one of construction and maintenance of the database on the basis of input information input to the support information created by the creation unit.

Abstract: The present technology relates to an information processing device, an information processing method, a program, and a robot capable of estimate a value outside a detection range of a sensor. A control device of a first aspect of the present technology is a device that acquires detection results of a sensor unit composed of a plurality of sensors including a first sensor having a predetermined detection range, and a second sensor having a range in a detection range thereof in which detection by the first sensor is not possible and estimates a detected value of the first sensor outside the predetermined detection range on the basis of detection results of the second sensor. The present technology can be applied to a device that controls a robot having a hand part capable of gripping an object.

Abstract: It is possible to transfer an object smoothly. An information processing device includes a control unit (12, 11) that controls a manipulator so that a moving speed of an object gripped by the manipulator maintains continuity when the object is transferred to a transfer target person.

Abstract: A robot control device includes a gripping posture generation section that calculates a gripping posture taken upon gripping an object with a hand of a robot; an observation position generation section that calculates an observation position where the object is observable by the robot on the basis of the gripping posture calculated by the gripping posture generation section; an observation posture generation section that calculates an observation posture of the robot at the observation position on the basis of the gripping posture calculated by the gripping posture generation section and the observation position calculated by the observation position generation section; and a robot control section that controls a posture of the robot to cause the robot to take the observation posture calculated by the observation posture generation section, causes the robot in the observation posture to observe the object, and then causes the robot to approach the object.

Abstract: A robot control device of the present disclosure includes an external force estimation section that obtains torque sensor information and tactile sensor information respectively from a torque sensor and a tactile sensor that are provided on a control target part of a robot, and separates an intended external force by a task given to the robot from an external force acting on the control target part on the basis of the obtained torque sensor information and the obtained tactile sensor information and estimates an unintended external force.

Abstract: The power conversion system includes an inverter circuit. The inverter circuit performs a grid-connected operation and an independent operation. When performing the independent operation, the inverter circuit may output, via a terminal, AC power converted to a load disconnected from a power grid. When the inverter circuit performs the independent operation, a control unit controls, when operating in a first mode, the power conversion system in a first time range such that an AC voltage is applied to the terminal, and controls, when operating in a second mode, the power conversion system in a second time range different from the first time range. The second mode includes control of stopping an operation of having the AC voltage applied to the terminal.

Abstract: Provided is a medical support arm system including a support arm that is a multilink structure having a plurality of links connected by a joint unit including an actuator, and supports a medical unit. The medical support arm system further includes a control device including an external force estimation unit to estimate an external force acting on the joint unit on the basis of a drive characteristic of the actuator, and a joint control unit to control drive of the joint unit on the basis of an external torque estimated by the external force estimation unit.

Abstract: The present technology relates to an information processing apparatus, an information processing method, and a program that allow stable grasping of an object. An information processing apparatus according to the present technology includes a detection unit that detects a slip generated on an object grasped by a grasping part, and a coordinative control unit that controls, according to the slip of the object, movement of a whole body of a robot in coordination, the robot including the grasping part. The coordinative control unit controls movement of each of configurations that constitute the whole body of the robot, the configurations including at least a manipulator part to which the grasping part is attached, and a mobile mechanism of the robot. The present technology can be applied to a mobile manipulator that grasps an object.

Abstract: Provided is a control device capable of controlling the operation of a control target according to a detected external force. A control device (200) includes a control unit (210-1) that compares a first external force detected by a force sensor provided in a control target and a second external force estimated on the basis of a torque detected by a torque sensor provided in an a movable portion of the control target, the movable portion enabling the force sensor to be movable, and controls the operation of the control target by correcting a torque command value on the basis of a result of the comparison.

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: Proposed is a mechanism capable of securing both convenience and safety in regard to surgery performed by inserting an endoscope into a human body. A medical arm system including a multi-joint arm which has a plurality of links connected by joints and a distal end to which an endoscope is connectable and a control unit which sets a virtual plane in a body cavity of a patient and controls the multi-joint arm so as to constrain a predetermined point of the endoscope in the body cavity on the virtual plane.

Abstract: A medical arm control system circuitry configured to generate autonomous operation control information to autonomously operate a medical arm based on external input information; simulate an operation performed using the medical arm; and correct the autonomous operation control information in real time based on a result of the simulation of the operation of the medical arm.

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 support system that includes a support arm including one or more active joints having an actuator, and one or more passive coupling mechanisms including a passive joint and a telescopic extension arm, the passive joint having no actuator; and processing circuitry configured to obtain information indicating a change due to movement of the one or more passive coupling mechanisms, and control the actuator of each of the one or more active joints based on the obtained information indicating the change, and the telescopic extension arm is positioned between (1) an active joint of the one or more active joints on a first side of the telescopic extension arm, and (2) the passive joint on a second side of the telescopic extension arm, the first side being closer to an proximal end of the support arm than a distal end of the support arm.

Abstract: An information processing apparatus (1S) includes: a creation unit (232) configured to create support information for supporting at least one of construction and maintenance of a database on the basis of first information including a representative question and an answer sentence associated with the representative question and stored in the database stored in a storage unit and second information indicating a history of reception with respect to a user; and a processing unit (233) configured to execute processing of performing at least one of construction and maintenance of the database on the basis of input information input to the support information created by the creation unit (232).

Abstract: The present technology relates to a control device, a control method, and a program capable of enabling predetermined motion while a gripped object is stabilized. A control device according to one aspect of the present technology is a device that detects a gripped state of an object gripped by a hand unit, and limits motion of a motion unit while the object is gripped by the hand unit, in accordance with a result of detection of the gripped state. The present technology can be applied to a device that controls a robot including a hand unit capable of gripping an object.

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: The present technology relates to an information processing device, an information processing method, a program, and a robot capable of estimate a value outside a detection range of a sensor. A control device of a first aspect of the present technology is a device that acquires detection results of a sensor unit composed of a plurality of sensors including a first sensor having a predetermined detection range, and a second sensor having a range in a detection range thereof in which detection by the first sensor is not possible and estimates a detected value of the first sensor outside the predetermined detection range on the basis of detection results of the second sensor. The present technology can be applied to a device that controls a robot having a hand part capable of gripping an object.

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.