Abstract: When an autonomous mobile apparatus moves autonomously along near a master and there is an object in the surrounding environment recognized by a camera and a communication device and the like, a danger level detecting portion detects a danger level of the object to the master, and an actuator controlling portion and an electric motor move the autonomous mobile apparatus based on the danger level. As a result, the autonomous mobile apparatus moves autonomously along near the master, as well as detects the danger level to the master and moves based on the danger level. Accordingly, the autonomous mobile apparatus can move in a manner so as to ensure the safety of the master taking this danger level into account.

Abstract: The present application provides a system for enabling instrument placement from distances on the order of five meters, for example, and increases accuracy of the instrument placement relative to visually-specified targets. The system provides precision control of a mobile base of a rover and onboard manipulators (e.g., robotic arms) relative to a visually-specified target using one or more sets of cameras. The system automatically compensates for wheel slippage and kinematic inaccuracy ensuring accurate placement (on the order of 2 mm, for example) of the instrument relative to the target. The system provides the ability for autonomous instrument placement by controlling both the base of the rover and the onboard manipulator using a single set of cameras. To extend the distance from which the placement can be completed to nearly five meters, target information may be transferred from navigation cameras (used for long-range) to front hazard cameras (used for positioning the manipulator).

Abstract: This method controls an automatic finishing machine using a robot with a tool through a model storage step, a data acquisition step, a calculation step, an error derivation step, a correction step and a machining step. In the model storage step, shape data of an unfinished work or data of a three-dimensional model is stored in a memory. In the data acquisition step, the tool is brought into contact with the unfinished work W, thereby obtaining measurement data. Then, in the calculation step, actual-position data on a comparative object point is calculated based on the measurement data. Subsequently, in the error derivation step, a data difference between the calculated actual-position data and position data on the comparative object point in the three-dimensional model is obtained. Thereafter, in the correction step, teaching data indicative of the position of the tool corresponding to the shape data of the three-dimensional model is corrected, based on the data difference.

Abstract: The subject disclosure is directed towards a robot device including a model that controls a robot's task-related operations to perform tasks and user-engagement operations to interact with the robot. The model controls the operating states, including transitioning from an autonomous task state to an engaged state based on current context determined from various stimuli, e.g., information received via sensors of the robot and/or learned data. The robot may seek to engage the user, the user may seek to engage the robot, or the user and robot may meet by chance in which either may attempt to initiate the engagement.

Abstract: Presented is a method and apparatus comprising one or more robotic members which are curvaceous or snake-like; having movable shapers through which may pass an articulable column having successive joints formed of alternating ball and socket members. The shapers can be directed up and down the articulable column, to create virtually any radius of curvature, in any direction. The robotic member may also include discrete microelectronic mechanical devices (MEMS) shapers with embedded addressable controllers. Thus the device, with computerized control is capable of negotiating a tortuous path to access the site of a given operation and to retreat along the same path, without injury to the body in which the arm is directed. Once at the work site, the articulating columns, or parts of them, may be put in compression, causing them to become rigid.

Abstract: Embodiments of the invention disclose a system and a method for determining a pose of a probe relative to an object by probing the object with the probe, comprising steps of: determining a probability of the pose using Rao-Blackwellized particle filtering, wherein a probability of a location of the pose is represented by a location of each particle, and a probability of an orientation of the pose is represented by a Gaussian distribution over orientation of each particle conditioned on the location of the particle, wherein the determining is performed for each subsequent probing until the probability of the pose concentrates around a particular pose; and estimating the pose of the probe relative to the object based on the particular pose.

Abstract: A motion estimating device first detects mobile objects Oi and Oi? in continuous image frames T and T?, and acquires image areas Ri and Ri? corresponding to the mobile objects Oi and Oi?. Then, the motion estimating device removes the image areas Ri and Ri? corresponding to the mobile objects Oi and Oi? in the image frames T and T?, extracts corresponding point pairs Pj of feature points between the image frames T and T? from the image areas having removed the image areas Ri and Ri?, and carries out the motion estimation of the autonomous mobile machine between the image frames T and T? on the basis of the positional relationship of the corresponding point pairs Pj of feature points.

Abstract: A nursing system of the present invention can position where a person to be nursed through a sensor network widely deployed in an environment, instantaneously detect if the person to be nursed has an accident, and forward a message to inform a relative or medical staff. An autonomous robot will actively move beside the person to be nursed and transmit real-time images to a remote computer or PDA so that the relative or medical staff can swiftly ascertain the situation of the person to be nursed and the person to be nursed in case of emergency can be rescued as soon as possible.

Abstract: A wall climbing robot using an Indoor Global Positioning System (IGPS) provided in a room is disclosed. The wall climbing robot includes a navigation receiver configured to receive rotating fan beams emitted from one or more navigation transmitters of the indoor global positioning system, and recognize the rotating fan beams as IGPS signals; a robot frame provided with the navigation receiver mounted; a mobile controller configured to be installed on the robot frame, and to recognize and determine its own position using the IGPS signals; and a drive mechanism configured to travel along the surfaces of the room under control of the mobile controller. The mobile controller includes a central processing unit, an input/output unit, a motion control unit, a drive control unit, a navigation control unit, a sensor signal processor, an emergency processing unit, and an alarm generator.

Abstract: A robot and a control method thereof. The control method includes generating and storing plural grasping motions corresponding to data of a target object, selecting a grasping motion corresponding to a grasping purpose of the target object among the plural grasping motions, generating a path of arms corresponding to the selected grasping motion, calculating torques to track the path of the arms, and outputting the torques toward the arms so as to perform movement of the arms and grasping of the target object. The grasping motion path corresponding to the grasping purpose is generated and the path of arms is generated, thereby reducing overall calculation time during grasping of the target object to increase calculating efficiency, minimizing generation of the path of the arms, and allowing an arm path calculating process to be performed at the late stage of a grasping control process to improve grasping performance.

Abstract: An improved cleaning robot that uses a simple structure to sense an obstacle is provided. The cleaning robot includes a robot main body comprising a driving unit to drive the cleaning robot, and a cleaning unit to remove dust, a bumper unit which is movably mounted in the robot main body to protect the robot main body from collision with an obstacle, a sensor unit which supports the bumper unit movably in a plurality of directions to sense the collision of the bumper unit and the obstacle, and a control unit which controls the driving unit on the basis of a signal sensed by the sensor to avoid the obstacle.

Abstract: Enabled is to estimate a self-position even when no landmark is seen or when an article confusing the landmark is brought in. An omnidirectional camera recognizes a vertical land-mark near a wall to determine a candidate for the self-position. On the basis of the candidate determined, a break in a map between a floor and a wall is projected on the camera image thereby to perform the matching.

Abstract: A mobile apparatus capable of moving while avoiding contact with an object by allowing the object to recognize the behavioral change of the mobile apparatus is provided. The robot and its behavioral state and the object and its behavioral state are recognized as a first spatial element and its behavioral state and a second spatial element and its behavioral state, respectively, in an element space. Based on the recognition result, if the first spatial element may contact the second spatial element in the element space, a shift path is set which is tilted from the previous target path by an angle responsive to the distance between the first spatial element and the second spatial element. With the end point of the shift path as a start point, a path allowing the first spatial element to avoid contact with an expanded second spatial element is set as a new target path.

Abstract: A provisional desired motion trajectory of an object is determined based on a moving plan of the object. Then, it is determined whether a robot leg motion can satisfy a necessary requirement. The requirement is related to a position/posture relationship between the object and the robot, and a determination of whether the requirement can be satisfied is made at a future, predetermined step. A restrictive condition related to robot leg motion is satisfied at each step up to the predetermined number of steps. If the requirement is satisfied, then a desired gait is generated on the basis of the provisional desired motion trajectory. Otherwise, a desired gait is generated on the basis of a desired motion trajectory of the object according to a corrected moving plan.

Abstract: A control device for a mobile body makes it possible to smoothly correct the deviation of an actual posture of a base body of a mobile body, which travels with the base body thereof moving up and down, from a desired posture of the base body while restraining an overshoot or an undershoot from occurring. To determine a required manipulated variable according to a feedback control law in order to converge a state amount deviation related to the posture of the base body of the mobile body to zero, the feedback gain of the feedback control law is determined by using the time series in a period from current time to predetermined time in the future in the time series of a desired inertial force of the mobile body or the base body. The required manipulated variable is determined by the calculation of the feedback control law on the basis of the determined feedback gain and an observed value of the state amount deviation.

Abstract: The illustrative embodiments provide an apparatus for controlling a vehicle. In an illustrative embodiment, a vehicle is comprised of a machine controller, a steering system, a propulsion system, a braking system, a sensor system, and a knowledge base used by the machine controller. The machine controller identifies a dynamic condition and sends commands to the steering system, the propulsion system, and the braking system to move the vehicle.

Abstract: A machining status monitoring apparatus is provided on a machine tool, and has an actual CCD camera for imaging the tool and the workpiece and generating actual two-dimensional image data thereof, a virtual image generating section having a virtual CCD camera corresponding to the actual CCD camera, in which the tool and workpiece of three-dimensional model are imaged by the virtual CCD camera and virtual two-dimensional image data thereof are generated, and a display control section for receiving from a control device of the machine tool, information relating to the coolant supply state and checking whether coolant is being supplied to the contact portion of the tool and the workpiece, and displaying on a display device actual two-dimensional image data when coolant is not being supplied and displaying on the display device virtual two-dimensional image data when coolant is being supplied.

Abstract: A mobile robot includes a radio communication unit; a radio environment detector detecting plural types of radio environment data indicating the degree of goodness of radio environment, a comprehensive radio environment data being calculated from results of weighting the plural types of radio environment data with predetermined weights; a self-position detecting unit; a storage for map data of a movement area; the calculated comprehensive radio environment data being written in association with its own position detected.

Abstract: The present invention provides a machining state checking apparatus and method for checking whether a workpiece mounted on a machine tool and a workpiece fixture are shifted. A machining state checking apparatus has an actual CCD camera for imaging a workpiece fixed on a machine tool and a workpiece fixture and generating actual two-dimensional image data thereof, a virtual image generating section for generating virtual two-dimensional image data of the workpiece and workpiece fixture based on data on three-dimensional models of the workpiece and workpiece fixture, a comparing section for comparing the actual two-dimensional image data and virtual two-dimensional image data generated by the actual CCD camera and the virtual image generating section, respectively, and determining whether they match each other by comparing the portions corresponding to the workpiece and workpiece fixture in the actual two-dimensional image and the virtual two-dimensional images of the workpiece and workpiece fixture.

Abstract: Motion information of a robot arm stored in a motion information database is acquired. A person manipulates the robot arm, and correction motion information at the time of the motion correction is acquired. An acquiring unit acquires environment information. A motion correction unit corrects the motion information while the robot arm is in motion. A control rule generating unit generates a control rule for allowing the robot arm to automatically operate based on the corrected motion information and the acquired environment information. The motion of the robot arm is controlled based on the generated control rule.

Abstract: A technology is provided that easily acquires the location where an article is placed and then moves to that location, even in cases where the article was originally placed in a location shielded from GPS radio wave, and subsequently moved to another location. Marks and RFID tags are affixed to a movable tray. A transfer robot includes a camera, a reader, and a sensor. The transfer robot detects the tray location from the location of a region in an image photographed by the camera that matches mark information. Furthermore, the reader in the transfer robot detects the tray location from the intensity of a radio wave whose information, when read, matches an ID retained in the RFID tag. The transfer robot moves with the camera and the reader, detecting the tray that is the target destination.

Abstract: Systems and methods for planning and executing a search route by a mobile sensor platform for detecting reflection are disclosed. The search route of the mobile sensor platform is based on the angle of a radiation source relative to the ground in a search area. While executing the search route, a sensor on the mobile sensor platform is configured to detect the reflection of radiation from an object in the search area.

Abstract: Methods and tools for automatically performing work within a pipe or pipe network based on sensed impedance information. A robot, which may be tethered or un-tethered, includes a computer controller and a work tool for performing work within the pipe. With or without impedance-based calibration, the robot senses environmental and tool-based impedance characteristics and determines, using said software, ways in which the current work performance can be altered or improved based on the impedance information. The operation of the work tool is then altered in line with the control software. Many different types of work related to the inspection, cleaning and rehabilitation of pipes can be accomplished with the present robots including reinstating laterals after lining, cutting or clearing debris, sealing pipe joints and/or other heretofore manual pipe-based processes.

Abstract: A system and method for providing multiple priority impedance control for a robot manipulator where impedance laws are realized simultaneously and with a given order of priority. The method includes a control scheme for realizing a Cartesian space impedance objective as a first priority while also realizing a joint space impedance objective as a second priority. The method also includes a control scheme for realizing two Cartesian space impedance objectives with different levels of priority. The method includes instances of the control schemes that use feedback from force sensors mounted at an end-effector and other instances of the control schemes that do not use this feedback.

Abstract: A crosswalk walking assistance system to assist a pedestrian by moving a movable robot along with the pedestrian along a boundary of a crosswalk when the pedestrian crosses at the crosswalk, and a method of controlling the same. The crosswalk walking assistance system includes guide rails formed along boundary lines of a crosswalk, robots moving along the guide rails, and a controller connected to the guide rails.

Abstract: Systems, methods, and computer programs are presented for an end effector with a dual optical sensor. One end effector includes an arm, a mapping sensor, and a load sensor. The arm has one end connected to a pivoting joint, and a light signal is routed around the arm through a single light path. The mapping sensor is used for identifying the presence of the wafer when the wafer is not loaded on the end effector. The load sensor is used for identifying presence of the wafer on the end effector when the wafer is loaded on the end effector. The load sensor is defined by a second segment in the single light path such that the wafer intersects the second segment and interferes with the single light path when the wafer is loaded. A control module determines if an interruption in the single light path corresponds to an interruption of the single light path in the mapping sensor or the load sensor. As a result, one single light sensor is used to sense for two different conditions in the end effector.

Abstract: The present disclosure introduces modular apparatuses for mechanical devices. In one embodiment, a chain joint is described. The chain joint may include a rotating drum having an attachment point. Further, the chain joint may also include hydraulic cylinders connected to the rotating drum. Lengths of chain may be used to connect the hydraulic cylinders to the rotating drum via the attachment point. Another embodiment describes a robotic apparatus incorporating the chain joint. Other embodiments are also described.

Abstract: A method of determining complete sensor requirements for autonomous mobility of an autonomous system includes computing a time variation of each behavior of a set of behaviors of the autonomous system, determining mobility sensitivity to each behavior of the autonomous system, and computing a change in mobility based upon the mobility sensitivity to each behavior and the time variation of each behavior. The method further includes determining the complete sensor requirements of the autonomous system through analysis of the relative magnitude of the change in mobility, the mobility sensitivity to each behavior, and the time variation of each behavior, wherein the relative magnitude of the change in mobility, the mobility sensitivity to each behavior, and the time variation of each behavior are characteristic of the stability of the autonomous system.

Abstract: A numerical controller including a storage device for storing tabular data configured to operate one arbitrary axis, in which a position of a spindle or an axis as a control object is caused to correspond to a reference value composed of time or the position of a reference spindle or axis. A reading device is provided for successively reading a reference value in the tabular data and a position of the spindle or the axis as control object corresponding to the reference value from the storage device, and controls the position of the spindle or the axis as control object based on the reference value read by the reading device. An assignment device is provided for assigning the axis to be operated in accordance with the tabular data, and a starting device for starting the tabular data stored in the storage device, thereby causing the axis assigned by the assigning device to operate.

Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.

Abstract: A legged robot that runs while repeating a jump cycle including a ground-contact phase from a landing to a takeoff and an aerial phase from a takeoff to a landing is provided. The legged robot adjusts the landing timing after a jump in accordance with a planned timing, thereby attaining a smooth landing. A measuring unit of the legged robot measures an actual aerial phase period in a k-th jump cycle. A subtractor calculates a time difference between a target aerial phase period and the actual aerial phase period in the k-th jump cycle. A target velocity determining unit calculates a target vertical velocity of a center of gravity on a takeoff timing in a (k+1)-th jump cycle so as to eliminate the time difference. Motors in respective joints are controlled so as to realize the calculated target vertical velocity in the (k+1)-th jump cycle.

Abstract: A coordinated joint control system for controlling a coordinated joint motion system, e.g. an articulated arm of a hydraulic excavator blends automation of routine tasks with real-time human supervisory trajectory correction and selection. One embodiment employs a differential control architecture utilizing an inverse Jacobian. Modelling of the desired trajectory of the end effector in system space can be avoided. The disclosure includes image generation and matching systems.

Abstract: An apparatus and method for detecting movement errors due to the wheel slip or transient current generated while a mobile robot is traveling. The movement error detecting method includes: detecting movement of the wheels in a sensor part according to a movement command input to a drive motor, and outputting an actual output value from the sensor part; calculating an ideal output value for output from the sensor part as the wheels are moved according to the movement command; and comparing the actual output value with the ideal output value to determine and residual fault and detect movement errors.

Abstract: A robotic arm comprises a plurality of articulated elements, and control means for controlling the position of various of the elements such that the arm may adopt serpentine shape for tip following movement. Means for measuring directly the relative positions of at least some of the elements are provided in order to calculate deviation from the theoretical shape, and apply corrections to the arm control means.

Abstract: The present invention may provide a method of generating a walking pattern for a humanoid robot. The method of generating the walking pattern for the humanoid includes determining a position of a next Zero Moment Point (ZMP) along a moving direction of the humanoid robot, obtaining a first condition for generating a walking pattern based on the determined ZMP by using a periodic step module, generating trajectories of a ZMP and a Center of Mass (CoM) in an initial step based on the first condition and an initial value obtained from an initial state of the humanoid robot by using a transient step module, generating trajectories of a ZMP and a CoM in a steady step based on the ZMP of two steps by using a steady step module, and generating trajectories of a ZMP and a CoM in a final step by using the transient step module.

Abstract: A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in any direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the mater with a Jacobian Transpose controller. A slave having more degrees of freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart and cancelling out any such motion in the motions perceived by the master.

Abstract: The present invention relates to an obstacle detection device, adapted for an autonomous mobile system, which comprises: a conducting wire, a first unit and a second unit. The first unit further comprises a first conducting part, electrically connected to an end of the conducting wire; and the second unit further comprises a second conducting part, electrically connected to another end of the conducting wire other than that connecting to the first conducting part. As an abnormality, such as the autonomous mobile system comes into contact with an obstacle, or misses a step, is happening and detected by the obstacle detection device, a reactive force will be generated to force the two conducting parts to contact with each other so as to enable an electrical conduction for issuing an electrical signal to the control unit of the autonomous mobile system and thus enabling the autonomous mobile system to react with respect to the abnormality.

Abstract: A system for moving robots in accordance with a predetermined algorithm. The system includes: a surface having a position-coding pattern which identifies the surface; mobile robots for moving across the surface, each robot being configured for sensing and decoding the position-coding pattern; and a computer system in communication with the mobile robots. The computer system is configured to send instructions for moving each mobile robot relative to the surface in response to position information corresponding to that mobile robot. Further, the computer system is configured to determine instructions for moving each mobile robot using a predetermined algorithm. The predetermined algorithm is selected on the basis of the identity of the surface.

Abstract: The present invention discloses an automatic ultrasonic and computer-vision navigation device and a method using the same. In the method of the present invention, the user guides an automatic navigation device to learn and plan a navigation path; next, the automatic navigation device navigates independently and uses ultrasonic signals and computer vision to detect the environment; then, the automatic navigation device compares the detected environment data with the navigation path to amend the physical movement track. The present invention enables ordinary persons to interact with the automatic navigation device without operating the computer. As the present invention adopts computer vision and ultrasonic signals to realize the functions thereof, the manufacturers can save the hardware cost.

Abstract: Disclosed is a method, apparatus, and medium for estimating a pose of a moving robot using a particle filter. A method for estimating a pose of a moving robot using a particle filter according to an embodiment of the invention includes a detecting a change in pose of the mobile robot and calculating a pose of the current particle by applying the detected change in pose to the previous particle, predicting the probability of the pose of the current particle and obtaining a weight of the current particle on the basis of range data obtained by a sensor and map information, resampling the current particle on the basis of the weight, and adjusting the weight in consideration of an error of the sensor.

Abstract: Robotic posture transfer assist devices for assisting a posture transfer of a patient in a bed may include a device body, a stabilizer coupled with the device body and the bed, and at least one robotic arm having a plurality of degrees of freedom, wherein the robotic arm may be coupled with the device body. Robotic posture transfer assist devices may further include an end-effector removably coupled with the robotic arm, a controller module that provides a control signal to the robotic arm to control a movement of the robotic arm about the plurality of degrees of freedom, and a user input device that provides a command signal to the controller module to command the movement of the robotic arm, wherein the control signal provided by the controller module corresponds with the command signal.

Abstract: A robotic transportation device may include a device body, two docking arms, and a controller module. The device body may include at least one motorized wheel, and the two docking arms may include an adjustable wheel locking device. The two docking arms may extend horizontally from the device body and may be adjustable along first and second directions. The adjustable wheel locking devices comprise two adjustable wheel stops extending laterally from the docking arm. The controller module may cause the robotic transportation device to autonomously approach a target device, detect a device type, and adjust a position of the two docking arms and the two wheel stops in accordance with the device type. The controller module may move each adjustable wheel locking device under a target wheel of the target device to lock and lift the target wheels, and cause the robotic transportation device to autonomously transport the target device.

Abstract: A method and apparatus for organizing multiple organic polarized objects are provided. In some embodiments, an organic polarized object is spread on a conveyor belt when the organic polarized object is transported from organic polarized object storage. An inventory control system is updated when a count of organic polarized object is communicated. The apparatus includes an image processor to identify the size, shape, location and orientation of organic polarized objects and to communicate this information to a robotic end effector. The organic polarized object is automatically filled in slot of a tray or stuck onto pins through a robotic end effector. The tray may be covered with a basket and flipped. The apparatus includes a calibration module to align the coordinate systems of an image capture device and a robotic end effector. The apparatus also includes organic polarized object sorter machine, basket flipping machine and a nutrient filling machine.

Abstract: A robotic life form simulates a live creature responsive to a changing environment sensed by the robot, and has a robotic body that is articulated for motion around an upright axis and supported by at least two legs, each having at least two joints. The neck of the body terminates in a head provided with eyes and a mouth, and, in the illustrated creature, has a tail. Internal and external input sensors are located on the robotic body and responsive to touch, sound and lighting conditions, motion, food, temperature, voice commands, time of day, and obstacles and hazards, and include a head touch sensor, a plurality of touch sensors extending along a torso of the body, and a plurality of touch sensors on the feet.

Abstract: A method is provided for teaching a transfer robot used in conjunction with a workpiece processing system including a pedestal assembly, a light sensor having an optical input fixedly coupled to the pedestal assembly, a transfer robot having an end effector, and a processing chamber containing the pedestal assembly and light sensor. The method includes the steps of producing light within the processing chamber, moving the end effector over the optical input such that amount of light reaching the light sensor varies in relation to the position of the end effector, and recording the signal gain as the end effector is moved over the optical input. The method also includes the step of establishing from the recorded signal gain a desired position of the end effector relative to the pedestal assembly.

Abstract: A robot service system including a robot including least one manipulator and a controller controlling the motion of the manipulator. A remote service center includes an analyzing computer, and a communication line between the robot controller and the remote service center. A monitoring component is configured to monitor the current operation of the controller and the current motions of the manipulator, and to transmit information on the current operation of the controller and the current motions of the manipulator to the remote service center. The analyzing computer is configured, upon request, to calculate new maximum permissible performance parameters for the robot based on the received information and to transmit the new maximum permissible performance parameters to the robot controller.

Abstract: An interest center-point and a start point are created in an image. A potential function is created where the potential function creates a potential field and guides traversal from the starting point to the interest center-point. The potential field is adjusted to include a sum of potential fields directed toward the center-point where each potential field corresponds to an image. Images are displayed in the potential field at intervals in the traversal from the start point toward the interest center point.

Abstract: A robot is provided with a multi-joint robot arm, an external force detection unit that is installed in the arm, and detects an external force, a joint movable-state calculation unit that calculates a movable state of a joint of the arm, an external force conversion unit which, based on the movable state calculated by the joint movable-state calculation unit, converts the external force detected by the external force detection unit to a converted external force, and a control unit that controls the arm based on the converted external force so as to regulate the operation of the arm.

Abstract: A method of three-dimensional object location and guidance to allow robotic manipulation of an object with variable position and orientation using a sensor array which is a collection of one or more sensors capable of forming a single image.

Abstract: A guidance, navigation, and control method and system for an underground mining vehicle wherein an operator directly or indirectly guides the vehicle along a route as vehicle-mounted sensors including odometric sensors and rangefinders log motion data to a file which data is processed into a route profile including a vehicle path, a sequence of submaps along the path, and a profile of desired speed as a function of distance along the path. Thereafter the vehicle automatically repeats the route as represented by the route profile without an operator using the sensors and the maps to determine vehicle location.