Abstract: A robot controller for controlling motion of a robot includes a motion control unit configured to control the motion of the robot in accordance with an operation program, a motion path storage unit configured to store a motion path of a predetermined movable part of the robot when the robot operates in accordance with the operation program, a restricted motion area generation unit configured to generate restricted motion area data representing a restricted motion area for restricting the motion of the robot based on the stored motion path, and a motion restriction unit configured to restrict the motion of the robot in the restricted motion area based on the restricted motion area data.

Abstract: A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change. Various aspects of such robot motion planning are implemented in particular systems and methods that facilitate motion planning of the robot for various environments and tasks.

Abstract: A robot optimization motion planning technique using a refined initial reference path. When a new path is to be computed using motion optimization, a candidate reference path is selected from storage which was previously computed and which has similar start and goal points and collision avoidance environment constraints to the new path. The candidate reference path is adjusted at all state points along its length to account for the difference between the start and goal points of the new path compared to those of the previously-computed path, to create the initial reference path. The initial reference path, adjusted to fit the start and goal points, is then used as a starting state for the motion optimization computation. By using an initial reference path which is similar to the final converged new path, the optimization computation converges more quickly than if a naïve initial reference path is used.

Abstract: A joystick assembly for a working machine having a working arm includes a controller configured to control a plurality of machine functions, a first electronic joystick in communication with the controller, and actuators in communication with the controller. Each actuator is configured to actuate a function associated with the working arm. The first electronic joystick comprises four axes of movement, and the first electronic joystick is configured to transmit electronic signals to the controller in response to being displaced along an axis from a neutral position. The controller is configured to receive the electronic signals from the first electronic joystick, and to transmit an electrical signal to one or more actuators to actuate the actuators. The joystick assembly is configured such that the controller actuates a different actuator for controlling a different function associated with the working arm, dependent upon the axis of displacement of the first electronic joystick.

Abstract: The disclosure concerns a pivoting unit for a handling robot for opening a flap (e.g. door) of a motor vehicle body, comprising a mounting flange, a gripper arm and a first gripping tool for gripping an engagement on the flap to be opened, the first gripping tool being mounted on the gripper arm, and a pivoting head for pivoting the gripper arm between an initial position and an engaged position. The disclosure provides that a second gripping tool is also mounted on the gripper arm, and that the two gripping tools on the gripper arm are adapted to be inserted in different insertion directions into engagement with the openable flap of the motor vehicle body, in particular from top to bottom for the first gripping tool and from bottom to top for the second gripping tool. The disclosure further comprises an associated method.

Abstract: A device and method for automated computer controlled manufacture of assemblies composed of discrete linked product segments includes reciprocating product segment grippers having surface features engageable with the product segments, at least one robotic manipulating device whereby the product segments may be engaged by the product segment grippers.

Abstract: Provided is a numerical control system of an industrial machine that makes it possible to eliminate overshoot occurred at the time of stopping, thereby preventing interference of the machine, for example, in a case in which the torque of a motor such as a servomotor used in a feed axis of a machine tool is limited by a command unit of a CNC. A numerical control system of an industrial machine includes a command unit and a control unit configured to control driving of a motor of the industrial machine in accordance with a command from the command unit, and to perform position control by receiving a command of an end point position from the command unit or without receiving a command of the end point position from the command unit, and the control unit includes an in-deceleration torque limit release unit that, in a case of performing torque limitation of the motor, releases the torque limitation only during deceleration.

Abstract: A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding parameters of the control system. For safety purposes, such changes are not made until it is determined that it can be done in a smooth manner without causing jerking of the medical device. Further, an excessive force warning may be provided to surgery staff when excessive forces are being commanded on the slave manipulator for more than a specified period of time.

Abstract: A 5-axis processing machine includes a mounting table on which a tool and a work piece are placed; and a control unit including a calculation unit, a determination unit, and a correction unit; wherein the mounting table is moved relatively by three linear axes and two rotation axes based on NC data, the two rotation axes include a first axis and a second axis, the calculation unit calculates an orientation of the work piece with respect to the tool at a time of processing from NC data and a directions of rotation centers of an actual first axis and an actual second axis, the determination unit determines whether or not the calculated orientation of the work piece is included in an inoperable range, the inoperable range being the inoperable angle range, and the correction unit corrects the orientation of the work piece with respect to the tool.

Abstract: A robot arm includes a joint and links connected via the joint, a first encoder configured to detect information related to a position of the joint, a second encoder configured to detect information related to the position of the joint independently from the first encoder, and a controller configured to control an operation of the joint. The second encoder includes a scale in which a pattern is formed and a detector configured to detect position information of the joint by reading the pattern of the scale. The controller is configured to, in a case where a reading error occurs in the detector of the second encoder, execute encoder redetection processing of driving the joint of the robot arm on a basis of the detection result of the first encoder and redetecting the position information by the second encoder.

Abstract: A method and system for programming a path-following robot to perform an operation along a continuous path while accounting for process equipment characteristics. The method eliminates the use of manual teaching cycles. In one example, a dispensing robot is programmed to apply a consistent bead of material, such as adhesive or sealant, along the continuous path. A computer-generated definition of the path, along with a model of dispensing equipment characteristics, are provided to an optimization routine. The optimization routine iteratively calculates robot tool center point path and velocity, and material flow, until an optimum solution is found. The optimized robot motion and dispensing equipment commands are then provided to an augmented reality (AR) system which allows a user to visualize and adjust the operation while viewing an AR simulation of dispensing system actions and a simulated material bead. Other examples include robotic welding or cutting along a continuous path.

Abstract: The specification and drawings present a robotic coating application system and a method for coating at least one part with a robotic coating application system. The robotic coating application system may comprise an enclosure configured to receive at least one part. The robotic coating application system may further comprise at least one robot configured to operate at least partially within the enclosure. The robotic coating application system may also comprise a graphical user interface to display a model of the at least one part and allow a user to select a portion or subportion of the model for application of a coating. The coating may be automatically applied to the at least one part based upon, at least in part, the user-selected portion or subportion.

Abstract: A method for moving a stage relative to a base includes coupling a magnet assembly to the stage; coupling an array of coils to the base; and directing current to at least one of the coils with a control system that includes a processor to generate a force that levitates the stage relative to the base and moves the stage relative to the base. In one embodiment, the control system generates at least one current command that levitates and moves the stage while inhibiting the excitation of a first targeted flexible mode.

Abstract: A control device for a continuously variable transmission mounted in a vehicle, includes a lead compensation unit and a delay compensation unit. The lead compensation unit is configured to perform phase lead compensation in a transmission ratio control system of the continuously variable transmission according to an operating state of the vehicle with a lead amount being variable according to a vibration frequency of a torsional vibration of an input shaft of the continuously variable transmission. The delay compensation unit is configured to perform phase delay compensation in the transmission ratio control system with a delay amount being variable according to the operating state of the vehicle.

Abstract: A machine tool for machining workpieces has a machine frame, at least one component part which can be moved along a movement path by means of a power-operated drive unit, at least one frame part, which is connected to the machine frame and which is arranged at an end position in the movement path of the component part, and at least a first stop, via which the component part in contact with the frame part when said component part is in the end position, wherein the first stop lies outside the movement path.

Abstract: Methods for applying fluid materials to a substrate, such as circuit board, while continuously moving the fluid dispenser are disclosed. Initially, a dispenser is continuously moved through a constant motion trajectory connecting the plurality of dispense locations on the substrate. The electrical output signals generated by one or more of encoders of the dispenser are monitored as the dispenser is continuously moved through the constant motion trajectory. The dispenser is triggered at each of the plurality of dispense locations and droplets of the fluid material are jetted while continuously moving the dispenser. The spatial coordinates of each droplet of the fluid material on the substrate are measured and compared to expected landing coordinates for each droplet of the fluid material to generate a spatial error for each droplet of the fluid material. At least one dispense location is corrected and an updated constant motion trajectory is generated.

Abstract: The invention relates to a large manipulator (1), in particular a truck-mounted concrete pump, having a mast pedestal (3) which is rotatable about a vertical axis by means of a rotary drive and which is arranged on a chassis (2), having an articulated mast (4) which comprises two or more mast arms (5, 6, 7, 8), wherein the mast arms (5, 6, 7, 8) are connected, so as to be pivotable by means of in each case one pivoting drive, to the respectively adjacent mast pedestal (3) or mast arm (5, 6, 7, 8), having a control device, which actuates the drives, for the mast movement, and having a mast sensor arrangement for detecting the position of at least one point of the articulated mast (4) or a pivot angle (?1, ?2, ?3, ?4) of at least one articulated joint. The large manipulator is characterized in that the control device (17) is designed to limit the speed of the mast movement on the basis of the output signal from the mast sensor arrangement.

Abstract: A robot includes a robot controller that is designed and configured to execute a robot program, and a robot arm having at least three joints connected by links and a number of drives corresponding to the at least three joints. Each drive is designed to adjust one of the at least three joints allocated to the drive. The joints can be actuated in an automated manner in accordance with the robot program or in a manual drive mode by the robot controller to automatically adjust the associated joint, wherein at least one of the links includes a force measuring device designed to measure a force on the link in a predetermined direction.

Abstract: Disclosed herein are methods and systems for providing haptic output and audio output on computing devices using the same haptic device and methods for calibrating the same. To produce the haptic and audio output, the computing device receives a profile of a desired output waveform that is to be provided by the haptic device. Using the desired output waveform, an input waveform is generated. Once the input waveform that will produce the desired output waveform is generated, the input waveform may be calibrated to account for various structural components of the haptic device and may also be combined with an audio waveform. The input waveform is then provided to the haptic device.

Abstract: An apparatus for recording positions in a control program of a manipulator, which includes a manipulator, a controller having a control program, and a manual control device, wherein the controller can actuate the manipulator 10 in a compliance control, in which the manipulator is allowed to occupy an actual position different to the nominal position, wherein the controller, when recording the current position of the manipulator in the control program, carries over into the control program in a situation-based manner the nominal position, the actual position or a hybrid position comprising nominal and actual components of the current position. In addition, a corresponding method is also disclosed.

Abstract: A robot has an operation mode setting unit that sets an operation mode of the robot. The operation mode setting unit changes a correction factor multiplied by the maximum acceleration and the maximum deceleration of an arm and the servo gain of a servo circuit, and thereby selectively sets the operation mode to one of a first operation mode, a second operation mode in which the arm operates faster than in the first operation mode, and a third operation mode in which the arm vibrates less than in the first operation mode.

Abstract: A robot has an operation mode setting unit that sets an operation mode of the robot. The operation mode setting unit changes a correction factor multiplied by the maximum acceleration and the maximum deceleration of an arm and the servo gain of a servo circuit, and thereby selectively sets the operation mode to one of a first operation mode, a second operation mode in which the arm operates faster than in the first operation mode, and a third operation mode in which the arm vibrates less than in the first operation mode.

Abstract: A robot includes respective arms, respective drive sources, respective angle sensors, respective inertia sensors, a posture detection unit that detects the posture of a third arm, and a second drive source control unit that selects, on the basis of a detection result of the posture detection unit, any one of a second (A) correction component, which is derived from an angular velocity ?A3 of a second axis of a third arm obtained from a third inertia sensor, an angular velocity ?A2m of a second axis of a second arm obtained from a second angle sensor, and an angular velocity ?A3m obtained from a third angle sensor, and a second (B) correction component, which is derived from an angular velocity ?A2 obtained from a second inertia sensor and the angular velocity ?A2m, and feeds back the selected correction component to control the second drive source.

Abstract: A robot and a method of controlling the same are disclosed. The robot derives a maximum dynamic performance capability using a specification of an actuator of the robot. The control method includes forming a first bell-shaped velocity profile in response to a start time and an end time of a motion of the robot, calculating a value of an objective function having a limited condition according to the bell-shaped velocity profile, and driving a joint in response to a second bell-shaped velocity profile that minimizes the objective function having the limited condition.

Abstract: Methods and systems for selecting a velocity profile for controlling a robotic device are provided. An example method includes receiving via an interface a selection of a robotic device to control, and receiving via the interface a request to modify a velocity profile of the robotic device. The velocity profile may include information associated with changes in velocity of the robotic device over time. The method may further include receiving a selected velocity profile, receiving an input via the interface, and determining a velocity command based on the selected velocity profile and the input. In this manner, changes in velocity of the robotic device may be filtered according to a velocity profile selected via the interface.

Abstract: A robotic cleaner includes a cleaning assembly for cleaning a surface and a main robot body. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and a width of the cleaning assembly is greater than a width of the main robot body. A robotic cleaning system includes a main robot body and a plurality of cleaning assemblies for cleaning a surface. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and each of the cleaning assemblies is detachable from the main robot body and each of the cleaning assemblies has a unique cleaning function.

Abstract: A Robot includes a main body, a Portable device and a supporting structure. The supporting structure is disposed at the main body for detachably connecting the Portable device. The Portable device reads digital media data from the main body or the Portable device itself, and plays the digital media data as video. After the Portable device is detached from the supporting structure, the main body and the Portable device operate independently.

Abstract: A motor velocity control apparatus and method in which the velocity of a motor to drive a joint of a robot is controlled.

Abstract: If a manipulator of a robot falls in local minima when expanding a node to generate a path, the manipulator may efficiently escape from local minima by any one of a random escaping method and a goal function changing method or a combination thereof to generate the path. When the solution of inverse kinematics is not obtained due to local minima or when the solution of inverse kinematics is not obtained due to an inaccurate goal function, an optimal motion path to avoid an obstacle may be efficiently searched for. The speed to obtain the solution may be increased and thus the time consumed to search for the optimal motion path may be shortened.

Abstract: A process includes defining, in a memory, arm-occupied regions including robot arms and a workpiece and tool attached to a robot wrist, a virtual safety protection barrier with which the arms are not allowed to come into contact, and movable ranges of robot axes; estimating the coasting angle of each robot axis for which the axis will coast when the robot is stopped due to an emergency stop while moving to a next target position, from an actually measured amount of coasting and the like; determining a post-coasting predicted position of the robot by adding the estimated coasting angles to the next target position; checking whether or not the arm-occupied regions at the post-coasting predicted position will come into contact with the virtual safety protection barrier, or whether or not the robot axes are within the movable ranges; and performing control to stop the robot immediately upon detection of abnormality.

Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.

Abstract: A numerical controller for machine tools that has function of controlling the speed of arc operation calculates a first operable feedrate based on the arc radius of a machining path and the allowable frequency (or allowable angular speed) to which servo position control is capable of responding. The numerical controller also calculates a second operable feedrate based on the arc radius of the machining path and the allowable acceleration to which servo position control can respond, and selects the minimum feedrate from the commanded feedrate and the calculated first and second feedrate to perform speed control.

Abstract: Provided is a motor control device which realizes automatic adjustment of control of a motor for driving a mechanical load through a simple operation. The motor control device includes: a follow-up control unit (6) for receiving detection information of a detector (3) to output a torque command signal and output a status of motor control of a motor (1) as a control status amount signal, when a command signal regarding the motor control to be output from an upper-level controller is absent; an oscillation detection unit (9) for receiving the control status amount signal and detecting oscillation of a control status amount to output an oscillation detection signal; and an automatic adjustment unit (10) for receiving the oscillation detection signal to monitor a control status of the motor (1) and adjust a control parameter of the follow-up control unit (6) only when abnormality is detected.

Abstract: Controlling a digging operation of an industrial machine that includes a dipper, a crowd motor drive, and a controller. The crowd motor drive is configured to provide one or more control signals to a crowd motor, and the crowd motor is operable to provide a force to the dipper to move the dipper toward or away from a bank. The controller is connected to the crowd motor drive and is configured to monitor a characteristic of the industrial machine, identify an impact event associated with the dipper based on the monitored characteristic of the industrial machine, and set a crowd motoring torque limit for the crowd motor drive when the impact event is identified.

Abstract: In a method for controlling a manipulator, in particular a robot, a reference path is stored and reference increments are automatically determined while following the path the reference increments are determined based on the dynamics of the manipulator while following the path.

Abstract: Disclosed herein are a motor control apparatus and a motor control method thereof. The motor control method includes estimating a current torque of a motor based on dynamics of a body driven by the motor, judging whether the estimated torque is higher than a predetermined torque value, compensating for a velocity profile to drive the motor from the predetermined torque value, upon judging that the estimated torque is higher than the predetermined torque value, and driving the motor using the compensated velocity profile. Thereby, the velocity profile is compensated for in real time, and thus the velocity of the motor is raised while preventing the motor from stepping out.

Abstract: A control system of multi-shaft servo motor comprises a position loop module (400) for receiving a position loop given value and a position feedback value of respective shelves and figuring out a velocity loop given value; a velocity loop module (500) for receiving the velocity loop given value and a velocity feedback value of respective shelves and figuring out a current loop given value; a current loop module (200) for receiving the current loop given value and a current feedback value of respective shelves and outputting a current loop output value; a PWM signal generation module (300) for receiving the current loop output value from the current loop module (200) and generating a PWM signal for controlling respective shelves of the servo motor; and a multi-shaft time sequence control module (700).

Abstract: Systems, methods, devices, and computer readable media for controlling a digging operation of an industrial machine that includes a dipper and a crowd drive. A method includes determining an acceleration associated with the industrial machine, determining a crowd retract factor based on the acceleration, comparing the crowd retract factor to a threshold crowd retract factor, setting a crowd speed reference and a crowd retract torque for the crowd drive for a period of time based on the comparison of the crowd retract factor to the threshold crowd retract factor.

Abstract: A stepper motor driver system includes: a digital signal controller configured to digitally synthesize synthesized analog voltage signals that will induce a desired velocity of a stepper motor when applied to a pair of stepper motor windings; and voltage amplifiers, communicatively coupled to the digital signal controller, configured to amplify the synthesized analog voltage signals to produce amplified analog voltage signals and to output the amplified analog voltage signals; where the digital signal controller is configured to synthesize the analog voltage signals by affecting at least one of a phase or an amplitude of each of the analog voltage signals as a function of the desired velocity of the stepper motor.

Abstract: A robot includes: an arm; a driving source that pivots the arm; an angle sensor that detects a pivot angle and outputs pivot angle information; an inertia sensor that is attached to the arm and outputs inertial force information; a control command generating unit that outputs a control command defining rotational operation of the arm; a control conversion determining unit that determines whether the inertial force information is used when the driving source is controlled; and an arm operation control unit that performs a first control based on the control command, the pivot angle information, and the inertial force information, if the control conversion determining unit determines that the inertial force information should be used, and performs a second control based on the control command and the pivot angle information, if the control conversion determining unit determines that the inertial force information should not be used.

Abstract: Telerobotic, telesurgical, and surgical robotic devices, systems, and methods selectively calibrate end effector jaws by bringing the jaw elements into engagement with each other. Commanded torque signals may bring the end effector elements into engagement while monitoring the resulting position of a drive system, optionally using a second derivative of the torque/position relationship so as to identify an end effector engagement position. Calibration can allow the end effector engagement position to correspond to a nominal closed position of an input handle by compensating for wear on the end effector, the end effector drive system, then manipulator, the manipulator drive system, the manipulator/end effector interfacing, and manufacturing tolerances.

Abstract: In position tandem control in which one movable member is driven by two motors, an output of the integral element of the velocity control unit in the control system for one motor is copied to the integral element of the velocity control unit in the control system for the other motor. A preload is added to a torque command output from each of the velocity control units in the motor control systems for two motors so that torques in mutually opposite directions are generated to suppress backlash between gears.

Abstract: A robotic system includes a robot for moving a payload in response to a calculated input force. Sensors in respective sensor housings are connected to a handle, each sensor including a light emitter and receiver. The sensors measure a light beam received by a respective receiver. A controller calculates the calculated input force using received light. Each sensor housing modifies an interruption of the light beam in a sensor when the actual input force is applied, and the controller controls the robot using the calculated input force. A method of controlling the robot includes emitting the light beam, flexing a portion of the sensor housing(s) using the actual input force to interrupt the light beam, and using a host machine to calculate the calculated input force as a function of the portion of the light beam received by the light receiver. The robot is controlled using the calculated input force.

Abstract: A method of synchronizing a pickup of a handling device, a computer readable medium and a control device are disclosed. During movement, a pickup of a multi-axis handling device is synchronized with an object to be picked up which is carried along by a conveyor device. Furthermore, the pickup is synchronized with a moving conveyor device in order to put the object down onto the conveyor device. The pickup is synchronized along a computationally-determined polynomial path of at least the 3rd order between a starting point and a destination point.

Abstract: Systems, methods, devices, and computer readable media for controlling a digging operation of an industrial machine that includes a dipper and a crowd drive. A method includes determining an acceleration associated with the industrial machine, determining a crowd retract factor based on the acceleration, comparing the crowd retract factor to a threshold crowd retract factor, setting a crowd speed reference and a crowd retract torque for the crowd drive for a period of time based on the comparison of the crowd retract factor to the threshold crowd retract factor.

Abstract: A production system in which a human and a robot may simultaneously perform a cooperative task in the same area while ensuring human's safety. A robot is positioned at one side of a working table, and an operator is positioned at the other side of the working table. The reachable area of the operator is limited by the working table. An area of the working table is divided into an area where only the operator may perform a task, an area where only the robot may perform a task, and an area where both the operator and the robot may enter. In a cooperation mode, the maximum movement speed of a component of the robot is limited lower than when the component of the robot is outside the cooperative task area, and, the motion of the robot is limited so that the robot does not enter a robot entry-prohibited area.

Abstract: A system and method for driving a drawer of a refrigerator is provided. This system and method allows a drawer to be withdrawn from or inserted into a main body of a refrigerator at a preset speed regardless of the weight of items stored within the drawer, thus increasing reliability of the driving system and enhancing utility of the drawer.

Abstract: The invention relates to a method and a device for guiding the movement of a moving machine element on a numerically controlled machine, whereby maximum possible track speed, maximum possible track acceleration, and maximum possible track jerk are defined by means of given restrictions on track axes. The local minima for the maximum possible track speed are determined, whereby for each local minimum a corresponding left-sided and right-sided track speed segment is determined, whereby, for track values for the displacement track to the left and right of a given minimum, the resulting track speed is determined by using the maximum possible track jerk and the maximum possible track acceleration until the track speed exceeds the maximum possible track speed to the left and right of the minimum, a track jerk curve for the movement guidance is hence determined.

Abstract: A numerical controller for controlling a five-axis machining apparatus, in which a tool orientation command is corrected to thereby attain a smooth machined surface and a shortened machining time. The numerical controller includes command reading device that successively reads a tool orientation command, tool orientation command correcting device that corrects the tool orientation command so that a ratio between each rotary axis motion amount and a linear axis motion amount is constant in each block, interpolation device that determines respective axis positions at every interpolation period based on the tool orientation command corrected by the tool orientation command correcting device, a motion path command, and a relative motion velocity command such that a tool end point moves along a commanded motion path at a commanded relative motion velocity, and device that drives respective axis motors such that respective axis positions determined by the interpolation device are reached.

Abstract: Systems and methods are presented that enable a legged robot to maintain its balance when subjected to an unexpected force. In the reflex phase, the robot withstands the immediate effect of the force by yielding to it. In one embodiment, during the reflex phase, the control system determines an instruction that will cause the robot to perform a movement that generates a negative rate of change of the robot's angular momentum at its centroid in a magnitude large enough to compensate for the destabilizing effect of the force. In the recovery phase, the robot recovers its posture after having moved during the reflex phase. In one embodiment, the robot returns to a statically stable upright posture that maximizes the robot's potential energy. In one embodiment, during the recovery phase, the control system determines an instruction that will cause the robot to perform a movement that increases its potential energy.