Abstract: A method of monitoring a chemical mechanical polishing (CMP) apparatus including an arm configured to swing a polishing component includes performing a CMP process; learning at least two positions of the polishing component during a normal swing motion of the polish component by an optical acceptor and a processing unit to determine a plurality of expected positions of the polish component; analyzing at least one real position of the polishing component at predetermined time points during the CMP process by the optical acceptor and the processing unit; inspecting whether an abnormal event occurs based on the analyzed real position of the polishing component and the expected positions by the processing unit during the CMP process; and determining whether to send an alarm and stop the CMP process based on the inspecting result.

Abstract: Provided is a polishing device for appropriately retaining a polishing member in an appropriate state in polishing. The polishing device for partially polishing a substrate includes a polishing member having a processing surface which comes into contact with the substrate and which is smaller than the substrate, a conditioning member for performing conditioning on the polishing member, a first pressing mechanism for pressing the conditioning member against the polishing member in polishing the substrate, and a control unit for controlling an operation of the polishing device. The control unit is configured to control the first pressing mechanism when the substrate is partially polished by the polishing member.

Abstract: A method of conditioning a polishing pad includes positioning a conditioning head to bring a conditioning pad into contact with a polishing surface of a polishing pad. The method further includes generating a first pressure signal using a first pressure sensor based on a force being applied to the polishing surface by the conditioning pad. The method further includes generating a surface condition signal using an optical scanner. The method further includes adjusting the positioning of the conditioning pad in response to at least one of the first pressure signal or the surface condition signal.

Abstract: An operation control unit includes a storage device storing a program which includes commands of: obtaining a correlation between a supply position of the polishing liquid in the radial direction of the polishing pad using the liquid injection nozzle and an average polishing rate of the substrate and an distribution of the polishing rate within the substrate; determining a movable range of the liquid injection nozzle according to a predetermined range of an allowable average polishing rate and the correlation between the supply position of the polishing liquid and the average polishing rate; determining an optimal supply position of the polishing liquid from the correlation between the supply position of the polishing liquid and the distribution of the polishing rate within the substrate within the determined movable range of the liquid injection nozzle; and moving the liquid injection nozzle to the determined supply position to polish the substrate.

Abstract: A pickling tool configured for pickling a surface of an element, comprising a supply conduit delimiting a supply channel configured to be in pneumatic communication with a source of compressed air laden with a powder of an abrasive product, a removal conduit delimiting a removal channel configured to be in pneumatic communication with a suction source, and a nozzle having an opening that communicates with the exterior and is configured to face the surface, wherein the nozzle is in pneumatic communication with the supply channel and the removal channel Such a tool thus allows the passage of a flow of air for spraying the abrasive and the suction of the abrasive and of the powder arising from abrasion.

Abstract: A shot processing device according to an aspect includes: a guide portion provided in a conveyance direction of a workpiece; a rotation mechanism which includes a first endless belt providing a placement surface having the workpiece placed thereon and a first drive unit driving the first endless belt so that the placement surface moves in a direction opposite to the conveyance direction; a conveyance mechanism which pushes the workpiece toward the conveyance direction so that the workpiece on the placement surface rolls and moves in the conveyance direction along the guide portion; and at least one projector which projects shot media to the workpiece rolling and moving on the placement surface.

Abstract: A method for calibrating an electronic sensor for peening intensity. A range of desired intensity levels is chosen and that range may contain a single value or multiple values. The parameters for a blast stream are set that correspond to a particular intensity level. Test strips are peened in the blast stream and then the arcs of the peened strips are measured to determine the intensity level of the blast stream. Subsequently, a sensor is placed in the blast stream set at particular intensity levels and the signal generated at each intensity level is recorded. A roto-flap peening device can also be set at particular intensity levels and then a sensor is subjected to the roto-flap peening device set at those levels. A chart may be developed that correlates peening intensity to the signal of the sensor so the sensor may be used in place of Almen strips.

Abstract: A grinding and/or cutting tool which has at least one surface region for a lateral grinding process and a surface region for a circumferential grinding process and/or a cutting process. The surface regions have different removal properties. The material properties of the surface regions differ in that the surface regions have different abrasive materials, grinding particle shapes, particle scattering patterns, particle sizes, degrees of hardness, structures, and/or binders. In one embodiment, the grinding and/or cutting tool has two of the surface regions for a lateral grinding process, and the two surface regions for a lateral grinding process are arranged at a distance from one another. The surface region for a circumferential grinding process or for a cutting process is arranged preferably between the two surface regions for a lateral grinding process.

Abstract: Disclosed is a tool, such as pliers, with handle offsets and stop features. In an embodiment, the tool has a minimum of about 0.50 inches of clearance between handles in an area where a user's index finger contacts the handles. This is accomplished by offsetting upper and lower handles of the tool. For example, the lower handle may be offset about 1.10 inches from a pivot point between the handles. Similarly, an end of the upper handle may be offset by about 1.150 inches from the pivot point when jaws of the tool are adjusted to a closed position.

Abstract: A holding head is provided for a vacuum holding device for handling a plate-shaped workpiece about an axis. An arrangement of operating elements on a base body of the holding head includes at least three operating elements connected as actuating elements in a double actuation circuit for releasing the plate-shaped workpiece. Two of the actuating elements are arranged on sides of the arrangement opposite to one another with respect to the position of the axis and the third actuating element is designed ring-shaped and surrounds the axis circumferentially.

Abstract: A dual pawl ratchet tool with a leaf spring bias member. The leaf spring includes two bias portions that are coupled to one another by a fulcrum. The fulcrum can be placed in an indent of the pawl pocket to maintain structural stability while applying a bias force against the engaged pawl. In doing so, the bias member reduces the amount of lost motion that is incurred during the ratcheting operation.

Abstract: A ratchet wrench is provided, including a main body, a lever member, a ratchet head, a switch assembly and a cover assembly. The cover assembly includes a lid member and a positioning member. The positioning member is embedded within a grooved portion of the main body so that the lid member is positioned to the main body. A surface of the lid member is flush with a surface of the main body.

Abstract: A truly one-handed operable pipe wrench is provided which includes a handle having a first end and a second end, a fixed jaw disposed at the second end of the handle, and a rotatable jaw pivotally attached to the second end of the handle. The rotatable jaw includes a first engaging end and a second driven end. A lever arm is pivotally attached to the handle. The lever arm includes a handle portion and an actuating portion. When the lever arm rotates relative to the handle, the actuating portion is in contact with the second driven end of the rotatable jaw causing the rotatable jaw to rotate relative to the second end of the handle.

Abstract: A shutter adjustment device for utilizing a tool such as a drill to easily and effortlessly raise or lower storm shutters. The shutter adjustment device generally includes a housing adapted to be connected between a drill and a shutter lever of a storm shutter. The housing may be connected to a drill such that the housing rotates when the drill is activated. The shutter lever may be removably engaged within a clamp assembly of the housing such that the shutter lever may be easily rotated by activating the drill. In this manner, the shutter may be easily raised or lowered with little effort using the drill.

Abstract: An electric wrench, which is operated in an electric mode and a manual mode, includes a wrench body having a head portion having a ratchet device and a handle portion; a motor disposed in the handle portion; a current sensor connected with the motor for detecting an operation current value of the motor; a controller connected with the current sensor, the controller having a setting unit and a comparing unit, the setting unit setting a threshold current value, the comparing unit comparing the operation current value and the threshold current value; a switch activating and deactivating an operation of the motor; and a warning device connected with the controller. In the electric mode, when the operation current value is greater than the threshold current value, the warning device is triggered for user to switch to the manual mode.

Abstract: A ratchet wrench may include a main body and a quick release member. The main body has a driving end, and a tool hole vertically penetrates therethrough. A housing concavely formed on an inner wall of the tool hole, and a teeth section is installed in the housing. A ratchet wheel is installed into the tool hole, and an outer periphery of the ratchet wheel is adapted to engage with the teeth section so as to enable the ratchet wheel and the tool hole to have synchronous rotation. A driving hole axially penetrates through the ratchet wheel. The quick release member has a magnetic ring, a pressing member, and a cover. The pressing member is adapted to move relative to the driving hole and the magnetic ring, such that a sleeve can be easily coupled in or detected from the driving hole so as to achieve the quick release effect.

Abstract: A drive system including a bit with a bit end configured to provide targeted frictional engagement with a fastener. The bit end has an outer leading wall tapered with respect to the bit end longitudinal axis at a leading wall angle selected from leading wall angle values ranging within a leading wall angle tolerance band and the fastener has an inner recess wall tapered with respect to the fastener longitudinal axis at a recess wall angle selected from recess wall angle values ranging within a recess wall angle tolerance band, wherein the leading wall angle values within the leading wall angle tolerance band and the recess wall angles values within the recess wall angle tolerance band do not overlap when the outer leading wall contacts the inner pilot recess wall at a targeted focal area to achieve a desired level of frictional engagement between the pilot end and the fastener.

Abstract: The present invention provides a sound base of torque wrench comprising a base and an outer sleeve, a hardness of the outer sleeve is lower than a hardness of the base, the outer sleeve is hollow with a peripheral wall, and the peripheral wall is sleeved around the base; and at least one oil accommodating groove disposed on an outer peripheral surface of the peripheral wall. Thereby, the sound base uses the oil accommodating groove to accommodate lubricating oil, so that the sound base has a long-term lubricating effect, and long-term lubrication can be achieved when the sound base is operated in a wrench in order to have low frictional resistance, and thus the wrench can maintain a certain precision on a long-term basis.

Abstract: An apparatus includes a tool holder, a knob, and a clutch coupling the tool holder to the knob and including a biasing element disposed between a first detent button and a second detent button. The knob defines an internal surface with an engaging surface disposed facing the tool holder and defining a first wedge-shaped protuberance that includes a first stop surface and a first ramp surface. The distal ramp surface is disposed contacting one of the first detent button and the second detent button when the knob rotates in the first rotational direction about the central longitudinal axis. The distal stop surface is disposed to contact one of the first detent button and the second detent button when the knob plate rotates in the second rotational direction about the central longitudinal axis.

Abstract: An assembly for removing a bushing is provided including a mandrel having a size and shape similar to the bushing and a receiver having a hollow interior cavity. A fastener extends through an opening formed in both the mandrel and the receiver. A socket attachment has a first opening configured to removably couple to a first end of the fastener and a second opening configured to removably couple to a torque delivery tool. A biasing mechanism arranged adjacent a second end of the fastener is configured to generate a biasing force to drive the mandrel against a bushing in response to a coupling of the socket attachment and the fastener.

Abstract: A driving tool, comprising a handheld housing with a piston accommodated therein for transmitting energy to a fastening element to be driven in, a propellant charge for generating a gas pressure, a placing member that is able to be pressed against a workpiece, an in particular movable breech face for absorbing a recoil, and an ignition hammer that is movable relative to the breech face, wherein the ignition hammer is accelerated by means of at least one first spring against an igniter of the propellant charge, and wherein the spring is held in a tensioned state by a controllable holding member before the ignition hammer is accelerated, wherein the first spring is moved back into the held and tensioned state by the gas pressure after an ignition operation.

Abstract: This relates to a driving tool for driving fastening means, nails/staples, into a workpiece, a trigger lever, which can be actuated manually, and a workpiece contact element, which can be actuated by placing the tool onto the workpiece, the tool operates in a single shot mode, in which each individual sequence of an actuation of the workpiece contact element with subsequent actuation of the trigger lever triggers a driving-in cycle, the tool operates in a bump firing mode, in which, with the trigger lever continuously actuated, each individual actuation of the workpiece contact element triggers a driving-in cycle, a resetting assembly providing, by means of which the tool is resettable from the bump firing mode into single shot mode in an automatic, time-controlled resetting operation. It is proposed that a signaling assembly, which emits a feedback signal to the user before, after or during each automatic resetting operation, is provided.

Abstract: A pneumatic tool includes a drive mechanism configured to be actuated by a pneumatic pressure of compressed air, a body housing having the drive mechanism embedded therein, a grip housing connected to the body housing, and an electromagnetic valve configured to control supply of the compressed air to the drive mechanism, wherein the electromagnetic valve is arranged on an opposite side to the body housing, as seen in an extension direction of the grip housing.

Abstract: The invention relates to a fuel-operated firing device for driving securing elements into a substrate, comprising at least one main combustion chamber for a fuel, a driving piston that can be driven out of the main combustion chamber in a firing direction by expandable gases, and a pre-chamber with which an ignition device is associated and in which a pressure acting on the main combustion chamber can build up prior to a fuel-air mixture being ignited in said main combustion chamber. In order to improve the efficacy and/or functionality during the driving in of securing elements, a valve system is associated with the pre-chamber, by which valve system a maximum charge pressure in the pre-chamber can be varied in order to adjust the firing energy provided during the firing operation.

Abstract: A fastening device for supporting, hanging, holding and threading, includes: a shank with an aperture formed therethrough which can but doesn't have to include a built up area of material around it. The shank has two ends one end (head) is configured to be driven into by a driving tool such as a hammer, for securing the second pointed end into a member for securing the shank therewithin.

Abstract: A power tool, such as an impact driver, includes a motor having a rotor that rotates relative to a stator, and a centrifugal fan that rotates together with the rotor. A motor housing and a rear housing house the motor. Overlapping parts of the motor housing and the rear housing radially surround an outer circumference of the centrifugal fan. Air exhaust ports are defined in each of the overlapping parts and are offset in an axial direction of the rotor. Fluid communication paths are defined between the air exhaust ports in the overlapping parts. The fluid communication paths have an opening area or width in the axial direction that is smaller than an opening area or width in the axial direction of the air exhaust ports.

Abstract: A combat vehicle rescue tool for operating a combat lock to open a door of a combat vehicle by engaging an exterior mechanical rescue coupler includes a handle having a first end extending in to a first forked arm and a second forked arm. A selectable angle end wrench includes a box wrench which is sized to fit an exterior mechanical rescue coupler of a combat vehicle door. A rectangular stem of the end wrench has at least three angled faces on a rectangular stem end opposite to the box wrench. A detent mechanism engages each of the at least three angle faces and the pair of face surfaces to set a predetermined angle of the selectable angle end wrench with respect to a long axis of the handle. A spare fastener pin can be threadingly stored in the end face of the tapered end of the tool.

Abstract: A power tool may include an engine, a tool driven for movement by the engine, a brake mechanism coupled to the tool, a charge forming device coupled to the engine and a transmission member operably coupled to the brake mechanism and a throttle valve of the charge forming device. The brake mechanism inhibits movement of the tool in an engaged position of the brake mechanism and permits movement of the tool in a disengaged position of the brake mechanism. The charge forming device is coupled to the engine to provide a combustible fuel and air mixture to the engine, and the throttle valve is movable between a first position and a second position. The transmission member is operably coupled to the brake mechanism and the throttle valve so that the throttle valve is moved away from the first position when the brake mechanism is moved to the engaged position.

Abstract: A hand-held tool that is prepared for remote control has a handle region, an actuating button, and a removable attachment part held in the handle region. The attachment part has a handling extension and a collar encompassing the handle region. The collar includes first and second collar parts pivotably connected together. The attachment part acts upon the actuating button. The actuating button is displaced into an actuating position by a housing section of the collar for a duration of an arrangement of the attachment part on the handle region.

Abstract: An connection system for removably attaching a cleaning accessory to a handle comprises a handle having a socket and a cleaning element having a connector, wherein different corresponding elements on the socket and connector allow for different ranges of motion between the cleaning element and the handle. The socket is defined by a base and a wall extending from the circumference of the base, the wall defining an interior chamber with an opening opposite the base wherein the interior chamber is configured to receive an connector, a plurality of flexible fingers extending from the top of the wall. The connector is shaped to be received within the interior chamber of the socket.

Abstract: A flexible magnetic cushion for placement and location of hand tools has a magnetic body holding layer composed of flexible sheet material with a first surface and a second surface, as well as a plurality of holding parts distributed separately. The holding parts are provided for holding magnetic bodies. A first surface layer with a first rough surface on the appearance surface is composed of flexible sheet materials which are overlapped on the first surface of magnetic body holding layer. A second surface layer with a second rough surface on the appearance surface is composed of flexible sheet materials which are overlapped on the second surface of magnetic body holding layer. The thickness of magnetic body holding layer is larger than the thickness of the first surface layer and that of the second surface layer.

Abstract: Exemplary embodiments are directed to a tool storage device including first and second components. The first component includes a body with a hollow interior area, a top surface, and a bottom surface. The first component includes a cutout formed in the body. The second component includes a body with a hollow interior area, a top surface, and a bottom surface. The second component includes a cutout formed in the body. The first component is configured to receive at least a portion of a tool within the hollow interior area. The second component is configured to be concentrically positioned within the interior area of the first component to align the cutouts of the first and second components and cover at least a portion of a tool.

Abstract: The disclosure describes vehicle mountable robotic and communication systems and techniques that can facilitate communications between a police officer and a driver within vehicles in a manner that removes the police officer from a proximity of the driver and enables real-time communication between the police officer and the driver. A vehicle mountable robotic and communication system can deliver a communication device from a police vehicle to a driver vehicle so that the police officer and the driver may remain separated during part or all of a traffic stop or other temporary detention. This communication device can provide a sensory or communicative interface to permit the police officer to collect additional information of the environment of the driver and/or permit the police officer and the driver to engage in two-way communication.

Abstract: Provided is an artificial epidermis structure. Three different contact states can be realized between the artificial epidermis structure and a target object. The “first contact state” is a state in which only the surface of a distal end portion of each protrusion contacts the target object. The “second contact state” is a state in which each protrusion tilts with respect to a base body corresponding to the force received from the target object and thereby the surface of a base portion and the surface of the distal end portion of each protrusion contact the target object. The “third contact state” is a state in which each protrusion further tilts with respect to the base body corresponding to an increase in the force and thereby the surface of the base body and respective surface of the distal end portion and the base portion of each protrusion contact the target object.

Abstract: A programmable motion robotic system is disclosed that includes a plurality of arm sections that are joined one to another at a plurality of joints to form an articulated arm; and a hose coupling an end effector of the programmable motion robotic system to a vacuum source, the hose being attached, in a joint portion of the hose, to at least two adjacent arm sections of the plurality of arm sections mutually attached to a joint of the plurality of joints such that the joint portion of the hose remains substantially outside of any plane defined by motion of the mutually adjacent arm sections when rotated about the joint.

Abstract: A Hardware Module for a robotic system includes at least one sensor for measuring an internal property of the Hardware Module, a communication unit for communicating with other Hardware Modules, a data storage unit and an embedded controller. The embedded controller is configured to collect collected data, the collected data including: status data representing the current status of the Hardware Module; and operating data representing usage of the Hardware Module wherein at least part of the collected data is determined from sensor data from the at least one sensor, and the embedded controller is configured to perform at least one of: storing the collected data on the data storage unit; and transmitting the collected data via the communication unit.

Abstract: The speed reducer includes: a first sun gear; a second sun gear arranged coaxially with the first sun gear and having a different number of teeth from the first sun gear; a first planetary gear to engage with the first sun gear; a second planetary gear to engage with both the second sun gear and the first planetary gear and having an equal number of teeth to the first planetary gear; and a carrier part to rotatably fix relative positions of shafts of the first sun gear, the first planetary gear, and the second planetary gear and to rotate at a lower rotational speed than the first sun gear. The first sun gear and the second sun gear are rotated in opposite directions at an equal rotational speed.

Abstract: A robot system includes a robot having an arm including a first arm coupled to a base and pivoting about a first pivot axis and a second arm coupled to the first arm and pivoting about a second pivot axis parallel to the first pivot axis, and a first motor pivoting the first arm about the first pivot axis, and a control apparatus having a first motor control unit that controls the first motor. The robot has an inertial sensor that detects an angular velocity about a roll axis of the arm or an acceleration in a tangential direction of a circle around the roll axis, and the first motor control unit controls the first motor based on the angular velocity or acceleration.

Abstract: A method of selecting a kinematics computation library implementation, includes a first process of compiling, by a first processor, each of a plurality of types of implementations of kinematics computation libraries using different rigid transformation representation formats by a plurality of types of compilers, a second process of performing, by the first processor, each of predetermined kinematics computations by using the plurality of types of implementations of the kinematics computation libraries, which are compiled in the first process, and a third process of comparing, by the first processor, results of the kinematics computations performed in the second process to select an optimum implementation for the predetermined kinematics computation from the plurality of types of implementations of the kinematics computation libraries.

Abstract: The present technology is directed to performing feedback related to execution of recognition processing with a more natural motion. Provided is an information processing device including a motion control unit that performs motion control of a moving object that acts on the basis of recognition processing, in which the motion control unit causes the moving object to execute a responding motion on the basis of input of recognition target information, and the responding motion is implicit feedback related to execution of the recognition processing. Furthermore, provided is an information processing method including performing, by a processor, motion control of a moving object that acts on the basis of recognition processing, in which performing the motion control further includes causing the moving object to execute a responding motion on the basis of input of recognition target information, and the responding motion is implicit feedback related to execution of the recognition processing.

Abstract: A system for eliminating interference of randomly stacked workpieces is disclosed. The system includes a three-dimensional sensing module, a pick-up apparatus and a control module. The control module is coupled to the three-dimensional sensing module and the pick-up apparatus. The control module is configured to control the three-dimensional sensing module to capture a three-dimensional image, analyze the three-dimensional image to obtain an image information, select a target workpiece to be picked up according to the image information, arrange an interference elimination path for the target workpiece, and control the pick-up apparatus to eliminate interference of the target workpiece according to the interference elimination path.

Abstract: As a preferred embodiment of the present invention, a device for controlling a collaborative robot includes a collision detection unit configured to sense a collision of the collaborative robot; a control unit configured to control an operation mode of the collaborative robot when the collision detection unit senses the collision; and a collision countermeasure unit configured to apply, when the collision detection unit senses the collision, a collision compensation value to each of a plurality of joints in the collaborative robot so as to change a proceeding direction of a force applied to the each of the plurality of joints.

Abstract: A controller of a robot includes a first coupling section coupled to an object detecting device configured to detect an object. The controller is configured to control the robot in one of a first mode in which displacement speed of the robot does not exceed first speed and a second mode in which the displacement speed is second speed higher than the first speed, when the object detecting device is coupled to the first coupling section, switch the first mode and the second mode based on an output from the object detecting device, and control the robot in the first mode when the object detecting device is not coupled to the first coupling section.

Abstract: A vehicle transport apparatus is formed by a first robot and a second robot that enter underneath a vehicle, lift up wheels of the vehicle, and travel. The first robot and the second robot each include omnidirectional wheels and each further include a right lifting arm and a left lifting arm that are freely rotatably movable between storage positions (right storage position and left storage position) where tips thereof are pointed toward a center of a body in a width direction and expanded positions (right expanded position and left expanded position) where the tips thereof are pointed toward the outside of the body in the width direction.

Abstract: When it is detected that the charging of a battery is finished, a server transmits transport-out instructions for a vehicle to a vehicle transport apparatus, and when receiving the transport-out instructions transmitted from the server, the vehicle transport apparatus transports the vehicle, for which the charging of the battery is finished, out of a charging space.

Abstract: A vehicle transport apparatus is formed by a first robot and a second robot that enter underneath a vehicle, lift up wheels of the vehicle, and travel. The first robot and the second robot each include a distance sensor that detects a distance between the corresponding robot and an object near the corresponding robot, and a robot computing section that controls a travel operation and a loading operation of the corresponding robot. When the vehicle is to be lowered in a parking region, the robot computing section adjusts a parking position of the vehicle based on information detected by the distance sensor.

Abstract: An article transfer apparatus includes a holding portion, a driving portion that moves the holding portion, a control unit, and a reference detection portion that detects a reference position of a target article held by the holding portion. The control unit performs reference detection control to detect, by the reference detection portion, the reference position in a state in which the target article is lifted, determination control to determine a positional relationship between the holding portion and the reference position based on a result of detection by the reference detection control, and position calculation control to calculate, based on the positional relationship determined by the determination control, a movement destination position that is a position, of the holding portion at the movement destination, at which an outer edge of the target article held by the holding portion fits within a movement region.

Abstract: Techniques are disclosed to perform robotic handling of soft products in non-rigid packaging. In various embodiments, sensor data associated with a workspace is received. An action to be performed in the workspace using one or more robotic elements is determined, the action including moving an end effector of one of the robotic elements relatively quickly to a location in proximity to an item to be grasped; actuating a grasping mechanism of the end effector to grasp the item using an amount of force and structures associated with minimized risk of damage to one or both of the item and its packaging; and using sensor data generated subsequent to the item being grasped to ensure the item has been grasped securely. Control communications are sent to the robotic element via the communication interface to cause robotic element to perform the action.

Abstract: An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.

Abstract: A communications module is provided for simplifying routing of communications pathways in a robot. The communications module is attached between the robot tool flange and the end effector. Additional interchangeable modules may also be provided between the tool flange and the end effector. The communications module includes multiple input ports and at least one output port. A data switch within the module combines sensor data from multiple input ports into a single output stream that is transmitted from one or more of the output ports.