Abstract: The purpose of the present invention is to accurately deal with a variety of processing conditions and variations thereof, and to improve total throughput by efficiently operating a conveyance arm device in accordance with the processing conditions, even during cleaning. When a first wafer is loaded on a load-lock chamber, a conveyance-sequence category for operating each of a number of steps for a conveyance arm device capable of operating during cleaning is selected in accordance with processing conditions of the wafer, and a plurality of operation patterns are selected, combined and scheduled. The conveyance arm device is controlled in accordance with the scheduled conveyance sequence to control substrate conveyance.

Abstract: A system may include sensor equipment, task performance equipment, a yard maintenance manager and a robot. The sensor equipment may include one or more sensors disposed on a parcel of land. The task performance equipment may be configured to perform a task on the parcel. The task may be associated with generating a result that is enabled to be monitored via the sensor equipment. The yard maintenance manager may be configured to interface with the sensor equipment and the task performance equipment to compare measured conditions with desirable conditions to direct operation of the task performance equipment. The robot may be configured to work the parcel and perform at least one of acting as one of the one or more sensors, acting as a device of the task performance equipment, or interacting with the sensor equipment or the task performance equipment.

Abstract: A random k-nearest neighbors (RKNN) approach may be used for regression/classification model wherein the input includes the k closest training examples in the feature space. The RKNN process may utilize video images as input in order to predict motor command for controlling navigation of a robot. In some implementations of robotic vision based navigation, the input space may be highly dimensional and highly redundant. When visual inputs are augmented with data of another modality that is characterized by fewer dimensions (e.g., audio), the visual data may overwhelm lower-dimension data. The RKNN process may partition available data into subsets comprising a given number of samples from the lower-dimension data. Outputs associated with individual subsets may be combined (e.g., averaged). Selection of number of neighbors, subset size and/or number of subsets may be used to trade-off between speed and accuracy of the prediction.

Abstract: Robotic devices may be operated by users remotely. A learning controller apparatus may detect remote transmissions comprising user control instructions. The learning apparatus may receive sensory input conveying information about robot's state and environment (context). The learning apparatus may monitor one or more wavelength (infrared light, radio channel) and detect transmissions from user remote control device to the robot during its operation by the user. The learning apparatus may be configured to develop associations between the detected user remote control instructions and actions of the robot for given context. When a given sensory context occurs, the learning controller may automatically provide control instructions to the robot that may be associated with the given context. The provision of control instructions to the robot by the learning controller may obviate the need for user remote control of the robot thereby enabling autonomous operation by the robot.

Abstract: A robot includes a control unit that controls a movable unit of the robot to move an endpoint of the movable unit closer to a target position, and an image acquisition unit that acquires a target image as an image containing the end point when the end point is in the target position, and a current image as an image containing the end point when the end point is in a current position. The control unit controls movement of the movable unit based on the current image and the target image and output from a force detection unit that detects a force acting on the movable unit.

Abstract: An apparatus and method for developing contents which may direct motions of a robot according to time and synchronize motions of a robot with a media. The apparatus for developing robot contents outputs an interface including an editing area and a motion event track and includes a drawer configured to implement and provide a three-dimensional robot model in the editing area, and a motion editor which generates a robot motion event according to a motional manipulation with respect to the robot model of the editing area and providing the robot motion event on the motion event track according to time.

Abstract: Methods and systems for distributing remote assistance to facilitate robotic object manipulation are provided herein. Regions of a model of objects in an environment of a robotic manipulator may be determined, where each region corresponds to a different subset of objects with which the robotic manipulator is configured to perform a respective task. Certain tasks may be identified, and a priority queue of requests for remote assistance associated with the identified tasks may be determined based on expected times at which the robotic manipulator will perform the identified tasks. At least one remote assistor device may then be requested, according to the priority queue, to provide remote assistance with the identified tasks. The robotic manipulator may then be caused to perform the identified tasks based on responses to the requesting, received from the at least one remote assistor device, that indicate how to perform the identified tasks.

Abstract: Methods for saving energy and reducing cycle time by using optimal ordering of the industrial robotic path. A method includes receiving inputs including a complex operation, generating a plurality of task groups of the complex operation, calculating a group edge rating for each of a plurality of robotic movement edges between each of the plurality of task groups, calculating a candidate rating for each of a plurality of candidate paths, wherein the candidate rating comprises a summation of the group edge ratings for a candidate path, determining an optimal path comprising the candidate path with an optimal rating, wherein the optimal rating is determined by the lowest candidate rating, and returning the optimal path.

Abstract: Some embodiments provide a human and robot distributed operating system (HaRD-OS). The HaRD-OS efficiently and dynamically connects different human operators and algorithms to multiple remotely deployed robots based on the task(s) that the robots are to complete. Some embodiments facilitate an action/perception loop between the operators, algorithms and robots by routing tasks between human operators or algorithms based on various routing polices including operator familiarity, aptitude, access rights, end user preference, time zones, costs, efficiency, latency, privacy concerns, etc. In the event of a fault, some embodiments route to the best operator or algorithm that is able to handle the particular fault with the required privileges. Some embodiments secure task guarantees to be completed at particular times, priorities or costs.

Abstract: A biped walking robot control method is for master-slave control of walking of a biped walking robot. The biped walking robot control method includes a weight detection step of detecting weights applied to a ground respectively by a right leg and a left leg of an operator, a target ZMP calculation step of calculating a target ZMP when the biped walking robot produces weights having a ratio of the detected right leg weight and left leg weight, and a control step of controlling the biped walking robot in accordance with the calculated target ZMP.

Abstract: Apparatus and methods for developing parallel networks. In some implementations, a network may be partitioned into multiple partitions, wherein individual portions are being executed by respective threads executed in parallel. Individual portions may comprise multiple neurons and synapses. In order to reduce cross-thread traffic and/or reduce number of synchronization locks, network may be partitioned such that for given network portion, the neurons and the input synapses into neurons within the portion are executed within the same thread. Synapse update rules may be configured to allow memory access for postsynaptic neurons and forbid memory access to presynaptic neurons. Individual threads may be afforded pairs of memory buffers configured to effectuate asynchronous data input/output to/from thread. During an even iteration of network operation, even buffer may be utilized to store data generated by the thread during even iteration.

Abstract: A method, system, and computer program product for presenting the viewability of a point of interest (POI) on a map are provided in the illustrative embodiments. A set of viewing coverage information is located. A subset of the viewing coverage information is associated with a point of observation on the map. A viewing coverage information corresponds to a view of the POI from the point of observation. The viewing coverage information comprises a viewing coverage fraction that represents a portion of the POI visible in the view. The point of observation is plotted corresponding to the subset of the viewing coverage information such that the point of observation is represented on the map as a visually distinct area on the map and has a corresponding combined viewing coverage value. A plot of the point of observation resulting from the plotting is presented on the map as an overlay.

Abstract: A robotic vehicle may be operated by a learning controller comprising a trainable convolutional network configured to determine control signal based on sensory input. An input network layer may be configured to transfer sensory input into a hidden layer data using a filter convolution operation. Input layer may be configured to transfer sensory input into hidden layer data using a filter convolution. Output layer may convert hidden layer data to a predicted output using data segmentation and a fully connected array of efficacies. During training, efficacy of network connections may be adapted using a measure determined based on a target output provided by a trainer and an output predicted by the network. A combination of the predicted and the target output may be provided to the vehicle to execute a task. The network adaptation may be configured using an error back propagation method. The network may comprise an input reconstruction.

Abstract: When a moving body is remotely operated, a delay in transmission of an image and information acquired from the moving body becomes a problem since immediate transmission of an operation to the moving body cannot be expected. When a frame rate is decreased or a resolution is reduced to decrease the amount of image data to prevent transmission delay of the image data, it is difficult to grasp motions of other moving bodies. As a result, when a certain amount of time is required to transmit a camera image and a moving obstacle, the movement of the obstacle and the movement of the moving body are estimated. The estimated image is generated based on a current image, and is presented to an operator via a monitor. Accordingly, it is possible to reduce instability and a risk associated with transmission delay to safely operate the moving body.

Abstract: A method of controlling motion on the ground of a device having at least two legs comprising: obtaining current values of dynamic state variables of the device; optimizing a movement command for the device under constraints while taking account of said current values and of a movement setpoint for the device, said optimization being performed by modeling a movement of the device between a current state and a second state, the device being supported during said movement by at least on a first leg, and then from an instant in which the center of pressure on the ground is changed, at least on a second leg; and applying said movement command; wherein said optimization is performed on the assumption that the gravity potential energy of the device in the second state is a local maximum as a function of time.

Abstract: Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.

Abstract: Systems and methods trigger an image acquisition of an object using motion data communicated from a motion controller on a network, the motion controller coupled to a motion drive. A camera, upon receiving motion data from the motion controller, uses a virtual axis application to plan the movement of a virtual axis for a motion cycle, the virtual axis allowing an acquisition trigger rate to be calculated by the camera that follows movement of the object caused by the motion drive. Based on the calculated acquisition trigger rate, the camera generates an acquisition trigger signal for triggering the image acquisition of the object.

Abstract: A screwing device (1) and a screwing method use a multi-member (12, 13, 14, 15) robot (6) having a driven rotational axis. The robot (6), on its last member (12), carries a rotational device (7) with a rotational tool (8). The rotational device is driven independently and is provided and designed for rapidly screwing a rotating part (3) on or off. The screwing tightening or untightening of the rotating part (3) is performed by the robot (6) and in particular by the robot end member (12).

Abstract: Methods, devices (such as computer readable media), and systems (such as computer systems) for performing movements of a tool of a medical robot along a single axis that are achieved by electronically limiting the medical robot's movement to produce movement of the tool along the single axis rather than mechanically restricting the medical robot's movement to produce the single axis movement. The tool's movement will be along the single axis even if a user is moving an input device linked to the medical robot in other axes during the single axis movement. In addition, techniques are disclosed for automating the single axis movement such that it can be programmed to stop at a target location and start at or near a second (e.g.

Abstract: A robot arm system for controlling a motion of a robot arm includes an order determining section for determining an order of teaching information based on at least one or more pieces of perceptual information about circumference environment of the robot arm used by a person to operate the robot arm and change the motion of the robot arm that is sensed by the person, reaction time information as time information from a time when the person receives the perceptual information to a time when the person operates robot arm, and dispersion information about a dispersion level between at least one or more pieces of the teaching information or the perceptual information, and creates motion information about the robot arm based on the teaching information and the order determined by the order determining section.

Abstract: The present invention provides a method for real-time tracking of moving flexible surfaces and an image guided surgical robotic system using this tracking method. A vision system acquires an image of the moving flexible surface and identifies and tracks visual features at different times. The method involves computing both rigid and stretching transformations based on the changing positions of the visual features which are then used to track any area of interest on the moving flexible surface as it evolves over time. A robotic surgical system using this real-time tracking is disclosed.

Abstract: A control apparatus for a master-slave robot includes a force correction section detecting unit that detects a section at which force information from at least one of force information and speed information is corrected, and a force correcting unit that corrects the force information at a section detected as a force correction section by the force correction section detecting unit. A small external force applied to a slave manipulator is magnified and transmitted to a master manipulator, or an excessive manipulation force applied to the master manipulator is reduced and transmitted to the slave manipulator.

Abstract: The different advantageous embodiments provide a system comprising a number of computers, a graphical user interface, first program code stored on the computer, and second program code stored on the computer. The graphical user interface is executed by a computer in the number of computers. The computer is configured to run the first program code to define a mission using a number of mission elements. The computer is configured to run the second program code to generate instructions for a number of assets to execute the mission and monitor the number of assets during execution of the mission.

Abstract: A robotic device may comprise an adaptive controller configured to learn to predict consequences of robotic device's actions. During training, the controller may receive a copy of the planned and/or executed motor command and sensory information obtained based on the robot's response to the command. The controller may predict sensory outcome based on the command and one or more prior sensory inputs. The predicted sensory outcome may be compared to the actual outcome. Based on a determination that the prediction matches the actual outcome, the training may stop. Upon detecting a discrepancy between the prediction and the actual outcome, the controller may provide a continuation signal configured to indicate that additional training may be utilized. In some classification implementations, the discrepancy signal may be used to indicate occurrence of novel (not yet learned) objects in the sensory input and/or indicate continuation of training to recognize said objects.

Abstract: A robot apparatus includes a manipulator including a hand and an arm, a teaching apparatus that teaches operation of the manipulator, and a control apparatus that controls the manipulator that operates in a regular operation status or an erroneous manipulation avoiding status based on a control signal from the teaching apparatus. After determining whether a status of the manipulator is the regular operation status or the erroneous manipulation avoiding status, the control apparatus transmits a control signal for performing operation at a set regular speed to the manipulator in a case of the regular operation status, and the control apparatus transmits a control signal for performing operation at a speed lower than or equal to a safety speed that is set based on the regular speed to the manipulator in a case of the erroneous manipulation avoiding status.

Abstract: A medical device used in a medical robotic system has a conduit and an orientable tip. An optical fiber coupled to a laser source and/or a catheter coupled to one or more biomaterial sources extends through the conduit and tip so that the tip of the medical device may be robotically directed towards a target tissue for laser and/or biomaterial application as part of a medical procedure performed at a surgical site within a patient. A protective sheath covers the fiber as it extends through the conduit and tip. A first coupler adjustably secures at least the sheath to the medical device and a second coupler adjustably secures the fiber to at least the sheath. A similar dual coupler mechanism may be used to secure the sheathed catheter to the medical device.

Abstract: A vision correction method for establishing the position of a tool center point (TCP) for a robot manipulator includes the steps of: defining a preset position of the TCP; defining a preset coordinate system TG with the preset position of the TCP as its origin; capturing a two-dimensional picture of the preset coordinate system TG to establish a visual coordinate system TV; calculating a scaling ratio ? of the vision coordinate system TV relative to the preset coordinate system TG; rotating the TCP relative to axes of the preset coordinate system TG; capturing pictures of the TCP prior to and after rotation; calculating the deviation ?P between the preset position and actual position of the TCP; correcting the preset position and corresponding coordinate system TG using ?P, and repeating the rotation through correction steps until ?P is less than or equal to a maximum allowable deviation of the robot manipulator.

Abstract: A walking robot having joints which move using a torque servo, a posture of the robot being stably controlled, and a method of controlling a posture of the robot. It is possible to maintain a stable angle of the upper body while keeping an erect posture and balance using the COG of the robot and the inclination and the direction of the upper body and the pelvis of the robot, even in an external variation including external force or an inclination angle of the ground. Even in a state in which terrain information is not known in advance, the robot may keep an erect posture in a direction of gravity. Even when a plane where the robot stands is gradually inclined, the postures of the upper body and the legs of the robot may be kept while actively changing the angle of the ankle joint.

Abstract: A manipulator and a method of generating the shortest path along which the manipulator moves to grip an object without collision with the object models a target object and a gripper into a spherical shape, measures a current position of the gripper and a position of the target object and a target position of the gripper, calculates an arc-shaped path in a two-dimensional plane along which the gripper needs to move by calculating an included angle of a triangle consisting of the position of the object and the current position and target position of the gripper, transforms the arc-shaped path in the two-dimensional plane into an arc-shaped path in a three-dimensional space using a transform matrix consisting of the position of the object and the current position and target position of the gripper, thereby automatically generating the shortest path of the manipulator.

Abstract: A method of controlling an operation of a robotically-controlled surgical instrument can include receiving a first input signal at a controller indicative of a user's readiness to actuate the surgical instrument to perform a surgical procedure, outputting an output signal from the controller to provide feedback to the user in response to the received first input signal, receiving a second input signal at the controller confirming the user's readiness to actuate the surgical instrument, outputting an actuation signal from the controller in response to receiving the second input signal, and actuating the surgical instrument to perform the surgical procedure based on the actuation signal.

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: Disclosed are a robot cleaner, and a system and method for remotely controlling the robot cleaner. Since the robot cleaner is accessed to a terminal through a network, the robot cleaner can be controlled in more various manners. A situation inside a house can be real-time checked from the outside, and the satiation can be rapidly handled according to a state of the robot cleaner. Since the terminal and the robot cleaner are connected to each other through a network, a voice call function and an interphone function can be implemented. Furthermore, the robot cleaner can perform automatic cleaning, manual cleaning, and reservation cleaning in an autonomous manner, or in a remote-controlled manner.

Abstract: A device according to the invention (1) for monitoring the safety of at least one robot (2), having a non-contact detection apparatus (3A, 3B) for monitoring a working space (A) of at least one robot (2) in a monitoring mode (FIG. 1), is characterized by a switching means (1) for switching the detection apparatus into a measuring mode (FIG. 2) to measure at least one robot (2).

Abstract: The present disclosure discloses a cloud robot system, including: a cloud computing platform and at least one robot; wherein the cloud computing platform is used for receiving perform information sent by the at least one robot in the system; the perform information includes data, status and requests of the at least one robot; the cloud computing platform is used for processing the data and status, sending process results back to the at least one robot, and sending control instructions to corresponding robot according to the requests; the at least one robot is used for sending the perform information to the cloud computing platform, receiving process results from the cloud computing platform, and performing according to the control instructions sent from the cloud computing platform. By using the present disclosure, computing ability and storage capacity of the robots can be expanded unlimited, while the thinking ability and memory of the robots are improved.

Abstract: In this robot system, a control portion is configured to control a robot to grasp an object to be grasped by a grasping portion, and control a first imaging portion to examine the object to be grasped while driving a robot arm to change a posture of the object to be grasped multiple times.

Abstract: A predictor usable for rapid and accurate calculation of joint commands of an articulated mechanism describes relationship between the joints in the form of a differential equation. The predictor solves this differential equation by direct substitution of a power series for each of its variables and the combining of selected sets of coefficients of these power series into linear systems of equations which may be solved to determine power series coefficients to arbitrary order.

Abstract: A method for programming sequences of motion of a redundant industrial robot by manually guided adjustment of the pose of a manipulator arm having a plurality of successive links connected by adjustable joints actuated by at least one robot control unit and including at least one redundant joint. The method includes adjusting in a manually-guided manner the link of the manipulator arm that is associated with a tool reference point from a first position and orientation to a second position and/or second orientation, recalculating joint position values of all of the joints of the manipulator arm from the second position and orientation of the tool reference point while simultaneously resolving the redundancy by determining an optimized joint position value of at least one redundant joint, and automatically setting all of the joints on the basis of the recalculated, optimized joint position values.

Abstract: Robotic devices may be trained by a user guiding the robot along a target trajectory using a correction signal. A robotic device may comprise an adaptive controller configured to generate control commands based on one or more of the trainer input, sensory input, and/or performance measure. Training may comprise a plurality of trials. During an initial portion of a trial, the trainer may observe robot's operation and refrain from providing the training input to the robot. Upon observing a discrepancy between the target behavior and the actual behavior during the initial trial portion, the trainer may provide a teaching input (e.g., a correction signal) configured to affect robot's trajectory during subsequent trials. Upon completing a sufficient number of trials, the robot may be capable of navigating the trajectory in absence of the training input.

Abstract: Robotic devices may be trained by a trainer guiding the robot along a target trajectory using physical contact with the robot. The robot may comprise an adaptive controller configured to generate control commands based on one or more of the trainer input, sensory input, and/or performance measure. The trainer may observe task execution by the robot. Responsive to observing a discrepancy between the target behavior and the actual behavior, the trainer may provide a teaching input via a haptic action. The robot may execute the action based on a combination of the internal control signal produced by a learning process of the robot and the training input. The robot may infer the teaching input based on a comparison of a predicted state and actual state of the robot. The robot's learning process may be adjusted in accordance with the teaching input so as to reduce the discrepancy during a subsequent trial.

Abstract: The present technology is directed to motion and video capture for tracking and evaluating robotic surgery. In one embodiment, the system includes at least one tracking device coupled to a remote surgical tool. The tracking device is configured to use one or more sensors to sense one or more physical variables such as movement and electrical contact. In some embodiments, the data from multiple individual sensors is synchronized, received, and stored by a digital information system. The digital information system is configured to analyze the data to objectively assess surgical skill.

Abstract: A control method that executes a numerical non-linear optimization procedure with forward simulation of the full dynamics of the bipedal robot (including ground collisions) to compute a foothold, which produces the desired center of mass velocity during the next step of the walking cycle. The controller includes a gait generator that outputs desired joint trajectories designed to track a desired foothold provided by the foot placement algorithm. A torque calculator is included to output desired joint torques designed to track the desired joint trajectories provided by the gait generator. Additionally, the controller includes an actuator controller that produces the desired joint torques determined by the torque calculator at each joint on the physical robot, which may be a legged robot with torque-controlled joints. The foot placement algorithm may use nonlinear optimization that is solvable using a mathematical model of the dynamics of the controlled robot.

Abstract: A system and a method for providing a robot interaction service utilizing a location-based service of a mobile communication terminal. The system for providing a robot interaction service utilizing location information of a mobile communication terminal, includes: a mobile communication terminal for performing a mobile communication service through a wireless communication network, measuring a current location thereof and transmitting the measured location information to a predetermined robot terminal through a communication network; and a robot terminal for receiving the location information from the mobile communication terminal, determining a robot behavior based on the received location information, and controlling the operation thereof according to the determination result.

Abstract: A robotic submersible includes a housing having a body and a tail. In another aspect, a pump and a pump tank adjust the buoyancy of a submersible housing. In a further aspect, a first linear actuator controls the pump and/or a buoyancy, and/or a second linear actuator controls a position of a battery and/or adjusts a center of gravity. Another aspect includes a pump and at least one linear actuator that control gliding movements of the housing. In still a further aspect, a motor couples a tail with a body, such that the motor controls the movements of the tail to create a swimming movement. Moreover, an additional aspect provides a controller selectively operating the pump, first actuator, second actuator, and motor to control when swimming and gliding movements occur.

Abstract: Robotic systems according to the invention include a frame or body with two or more wheels rotatably mounted on the frame or body and a motor for independently driving each wheel. A system controller generates a signal for actuating each motor based on information provided by one or more sensors in communication with the system controller for generating feedback signals for providing reactive actuation of the motors for generating one or more functions selected from the group consisting of forward motion, backward motion, climbing, hopping, balancing, throwing and catching. A power source is included for providing power to operate the drive motors, system controller and the one or more sensors.

Abstract: A system capable of causing an agent to continuously execute a plurality of different subtasks while securing the continuity of behavior of the agent is provided. A plurality of state variable trajectories representing the time series of a state variable of an object are generated according to a stochastic transition model in which the state variable of the object is represented as a random variable. The stochastic transition model is defined so that the transition mode of the state variable is determined according to an execution probability of each subtask in which a probability distribution is represented by a Dirichlet distribution. An operation of the agent is controlled so that the state of the object transits according to one state variable trajectory (desired state variable trajectory) maximizing or optimizing the joint probability of a whole of the stochastic transition model among the plurality of state variable trajectories.

Abstract: Framework may be implemented for transferring knowledge from an external agent to a robotic controller. In an obstacle avoidance/target approach application, the controller may be configured to determine a teaching signal based on a sensory input, the teaching signal conveying information associated with target action consistent with the sensory input, the sensory input being indicative of the target/obstacle. The controller may be configured to determine a control signal based on the sensory input, the control signal conveying information associated with target approach/avoidance action. The controller may determine a predicted control signal based on the sensory input and the teaching signal, the predicted control conveying information associated with the target action. The control signal may be combined with the predicted control in order to cause the robotic apparatus to execute the target action.

Abstract: After a forward end of a workpiece is inserted into a through-hole and fitting is started, a follow operation of moving the workpiece to follow the shape of the through-hole is performed during the movement of the workpiece in a fitting direction. At this time, the workpiece is fitted into the through-hole while a control point of a robot is changed in a direction opposite to the fitting direction according to the amount of movement of the workpiece in the fitting direction.

Abstract: A calibration method for calibration a tool center point for a robot manipulator includes the steps of: driving the tool to move above one of the inclined surfaces; defining a preset coordinate system TG; rotating the TCP relative to the UG-axis by about 180 degrees, calculating the value of ?w; updating the position parameters of the preset TCP, defining a new preset coordinate system TG?; rotating the TCP relative to the UG?-axis by about 90 degrees, calculating the value of ?v; updating the position parameters of the new preset TCP, defining a new preset coordinate system TG?; driving the tool to move above a planar horizontal surface; rotating the TCP relative to a axis by about 30 degrees, calculating the value of ?u; repeating the aforementioned steps until the deviation ?P (?w, ?v, ?u) is less than or equal to a maximum allowable deviation of the robot manipulator.

Abstract: Disclosed are a robot, which generates a stable walking pattern similar to that of a human, and a method of controlling walking thereof. The method includes generating a walking pattern of a leg connected to a torso of the robot; detecting whether or not a singularity pose of the leg walking according to the walking pattern is generated; and changing the walking pattern by adjusting a yaw direction angle of the torso when the singularity pose is generated.

Abstract: An apparatus for inputting teaching data for a robot includes a first input interface configured to input teaching data of a path layer; and a second input interface configured to input teaching data of a task layer.