Abstract: A medical system that allows a medical device to be controlled by one of two input devices. The input devices may be consoles that contain handles and a screen. The medical devices may include robotic arms and instruments used to perform a medical procedure. The system may include an arbitrator that determines which console has priority to control one or more of the robotic arms/instruments.

Abstract: In a music information reproducing device 1, a music information reproducing unit 2 reads a music information file 6 stored in a storage unit 4 and reproduces it as consecutive audible sound signal to sound audible sounds from a loud speaker 5. The music information file 6 comprises predetermined music information that a robot can recognize by analyzing as an audible sound signal and that specifies a movement pattern data for making the robot perform a movement pattern and normal music information for reproducing music. The robot 2 is a human form or an animal form robot that moves each part of the robot 2 in accordance with the specified movement pattern. A robot that performs a movement pattern along music by inputting the music as an audible sound signal and a movement pattern control program of the robot is provided in a cheap price.

Abstract: A surgical method and a control system is provided. The surgical method and the control system can advantageously be used in a minimally invasive surgical apparatus. The method includes generating a desired surgical instrument movement command signal. It further includes comparing the desired surgical instrument movement command signal with at least one preset surgical instrument movement limitation. Should the desired surgical instrument command signal transgress the preset surgical instrument movement limitation, the desired surgical instrument movement command signal is restricted to yield a restricted surgical instrument movement command signal. A surgical instrument is then caused to move in response to the restricted surgical instrument movement command signal. The method further provides for haptic feedback on a master control in response to restriction of the desired surgical instrument movement command signal.

Abstract: With a robot and a control method for it, information is read in from the outside, based on which a particular object is detected, and it is judged upon detecting the object whether or not the object satisfies given conditions, based on the judgment results of which a robot generates predetermined actions. Thus, a robot can be realized that acts naturally like a living thing. Consequently, its entertaining quality for human beings can be increased greatly.

Abstract: An articulated robot is controlled by dynamically modifying a combination of a hardware dependent middleware layer and a hardware independent application layer. A memory device for storing a plurality of sets of robot hardware dependent software programs and a memory device for storing a plurality of sets of robot hardware independent software programs are prepared. During execution of software programs, a software program compatible with a robot hardware configuration is introduced from the former memory device, and this software program is dynamically combined with the set of hardware independent software programs. The robot is thus appropriately controlled, meeting the needs of users.

Abstract: A robot is proposed which has a speech recognition unit to detect information supplied simultaneously with or just before or after detection of a touch by a touch sensor, an associative memory/recall memory to store action made correspondingly to the touch and input information (speech signal) detected by the speech recognition unit in association with each other, and an action generator to control the robot to make action recalled by the associative memory/recall memory based on a newly acquired input information (speech signal). The robot has also a sensor data processor to allow the robot to act correspondingly to the touch detection by the touch sensor. Thus, the robot can learn action in association with an input signal such as speech signal.

Abstract: Between a first equipment and a second equipment connected to a predetermined bus line, it is arranged that data for setting, etc. on input selection in the first equipment is instructed from the second equipment in the form of command having a predetermined format through the bus line, thus allowing an independent remote control to be performed between the first equipment and the second equipment. Moreover, data on input selection in the first equipment is transmitted to the second equipment, so that, for example, the remote control of the input selection in the first equipment linking with the operation of the second equipment will be performed satisfactorily.

Abstract: In order to reduce the risk of damage on external objects, material articles or persons during the operation of a robot, particularly a miniature robot, the invention provides a method for limiting the force action of a robot part, such as a robot arm, on such an external object during a collision in such a way that as a result of a maximum permitted force, maximum force Fmax, acting on the object in the case of a collision, a corresponding, maximum permitted kinetic energy, maximum energy Ekin,max of the robot part is determined, continuously and at adequately short time intervals the actual kinetic energy, actual energy Ekin, of the robot part is determined and on exceeding the maximum permitted energy Ekin,max, the actual operating speed V of the robot is reduced.

Abstract: A medical system that allows a medical device to be controlled by one of two input devices. The input devices may be consoles that contain handles and a screen. The medical devices may include robotic arms and instruments used to perform a medical procedure. The system may include an arbitrator that determines which console has priority to control one or more of the robotic arms/instruments.

Abstract: The present invention is a control system for conditioning movement of a work implement during a work cycle. In one embodiment, the control system comprises an electronic-hydraulic valve connected to the work implement and a computer system having a central processing unit and a memory device. The control system further comprises a mode control module stored on the memory device. The mode control module is generally adapted to detect whether the control handle of the work implement is signaling for operating in a smooth mode or an abrupt mode, and to output a control signal to the electronic-hydraulic valve to control operation of the work implement during the smooth mode or the abrupt mode. The mode control module comprises a smooth mode module and an abrupt mode module. The smooth mode module and the abrupt mode module are adapted to optimize movement of the work cycle during the smooth mode, and abrupt mode, respectively.

Abstract: A robot apparatus causes the emotion in a feeling part (130) to be changed based on the information acquired by a perception part (120) to manifest the behavior of information acquisition as autonomous behavior. The robot apparatus includes a behavior control part for causing the robot apparatus to manifest a language acquisition behavior and a meaning acquisition part. The robot apparatus also includes a control part for performing the behavior control of pointing its object of learning. The robot apparatus causes changes in internal states, which are ascribable to the object, to be stored in a memory part in association with the object.

Abstract: A method for programming a multi-axis actuator system to perform palletizing uses an intuitive user interface having a data entry screen for palletizing data, which requires only a simple setting of minimal parameters including the number of rows and columns in a pallet and the pitch spacing between pallet positions. Actuator positions necessary for palletizing movements are calculated in real time by an algorithm executed in a digital signal processor of the actuator controllers. Palletizing data entries are stored in a motion profile table in a range of consecutively paired indexes which is separated from the index range dedicated to regular single-step or torque moves.

Abstract: A user information input structure that inputs user information, a memory structure that stores user's bearing information as robot's bearing pattern, and a regenerating structure that regenerates the pattern based on the information input to the user information input structure. A behavior selection and determination structure for selecting and deciding behaviors based on user information, a user information recognition structure for recognizing a user, a memory structure for storing the recognized user information, a calculating structure for comparing the recognized user information with the stored user information to calculate user recognition, and a compensating structure for compensating a selection and determination method in the behavior selection and determination structure in accordance with the calculated user recognition.

Abstract: A gas pipe explorer formed of a plurality of connecting elements, and an articulation element between the connected elements. The connected elements include drive capabilities, and the articulation element allows the connected elements to traverse gas pipes of arbitrary shapes and sizes. A sensor may sends the characteristics of the gas pipe, and the communication element may send back those sends characteristics. The communication can be wired, over a tether connecting the device to a remote end. Alternatively, the connection can be wireless, driven by either a generator or a battery.

Abstract: A robot apparatus (1) includes leg blocks (3A to 3D), head block (4), etc. as a moving part (16), a motion controller (102), learning unit (103), prediction unit (104) and a drive unit (105). When the moving part (106), any of the blocks, is operated from outside, the learning unit (103) learns a time-series signal generated due to the external operation. The motion controller (102) and drive unit (105) control together the moving part (106) based on a signal generated at the moving part (106) due to an external force applied to the robot apparatus (1) and a signal having already been learned by the learning unit (103) to make an action taught by the user. The prediction unit (105) predicts whether the moving part (106) makes the taught action according to the initial signal generated at the moving part (106) due to the applied external force. Thus, the robot apparatus (1) can learn an action taught by the user and determine an external force-caused signal to make the taught action.

Abstract: A robot-arm telemanipulating system that presents an operator auditory information converted from a part of information on operating status of the robot arm (hereinafter referred to as “telemetry data”) transmitted from a distant position from the operator, so that a burden imposed on the operator can be alleviated. The telemanipulating system includes a sound source for simulatively generating an operating sound of the robot arm under telemanipulation, capable of variably controlling at least one of key, volume and tone of the operating sound by sound source control data input from outside; a telemetry data analyzing unit for analyzing telemetry data transmitted from the robot arm, and controlling the sound source by generating sound source controlling data corresponding to a load amount applied to the robot arm; and an audio output unit for presenting the operator the operating sound generated by the sound source in a form of auditory information.

Abstract: A working robot is used in space for inspecting the state of a structure of a house module in space or for replacing M/D shields. A robot body is provided with four multifunctional arms (or two moving arms and two multifunctional arms), which are equipped with manipulation tools at their leading ends. The robot is moved by the manipulation tools of each of the multifunctional arms gripping a working socket or the head of a bolt of an M/D shield and by the arms extending/contracting themselves. The M/D shield is fixed and lifted by the multifunctional arms 10 by inserting the manipulation tool into a T-handle socket. The bolts are removed by the manipulation tool of the multifunctional arms.

Abstract: The present invention is intended to effectively utilize robot-related information held at a robot user ad data held at a robot manufacturer as well as to enhance the user's sense of attachment to the robot. Each of personal terminal devices (31A to 31D) has both a function to send information on a robot 1 to a telecommunication line (39) and a function to receive answer information sent from a server (38) to the robot user via the telecommunication line, and the server (38) generates answer information on the basis of robot-related information sent from the personal terminal devices (31A to 31D) via the telecommunication line and reference information previously stored in an information storage means and corresponding to the robot-related information and sends the answer information to the personal terminal devices (31A to 31D) via the telecommunication line. The answer information is for example a diagnostic report on the robot.

Abstract: A medical system that allows a medical device to be controlled by one of two input devices. The input devices may be consoles that contain handles and a screen. The medical devices may include robotic arms and instruments used to perform a medical procedure. The system may include an arbitrator that determines which console has priority to control one or more of the robotic arms/instruments.

Abstract: Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.

Abstract: A medical system that allows a medical device to be controlled by one of two input devices. The input devices may be consoles that contain handles and a screen. The medical devices may include robotic arms and instruments used to perform a medical procedure. The system may include an arbitrator that determines which console has priority to control one or more of the robotic arms/instruments.

Abstract: An off-line teaching apparatus comprises an operation command-receiving means for receiving an operation command inputted via an input/output port from a key input device or a coordinate input device and successively storing the operation command in a buffer; an operation command-reading means for successively reading the operation command stored in the buffer; an operation command-counting means for counting a number of operation commands stored in the buffer; and a confirmation sound-generating means for generating confirmation sound upon receipt of the operation, command by the operation command-receiving means when a counted value obtained by the operation command-counting means is not less than a predetermined number. Accordingly, the operator can be informed, in real time, of the fact that the system responds to the input of the operation command from the operator. Thus, it is possible to improve the operability of the off-line teaching.

Abstract: Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.

Abstract: A robot system having a plurality of component units. The robot system includes a first storage device, and a second storage device. The robot system further includes a plurality of control devices, with a first component control device provided with the first component unit and a second component control device provided with the second component unit. The first component control device controls the first component unit and the second component control device controls the second component unit.

Abstract: In a robot and its control method the behavior and motion models functioning as bases in generating behaviors and motions of the robot are transformed based on the input history from the outside and the history of its own behaviors and motions.

Abstract: When determining coordinates of a point of an object (2) in a reference system of coordinates and the orientation of the object in the space in a measuring position assumed by the object, the object is moved from a start position having known coordinates and a known orientation to a measuring position while detecting this movement. Said coordinates and the orientation of the object in the measuring position are calculated from information from this detection and about the start position. Furthermore, the acceleration and retardation of the object are measured during the movement, and the coordinates and the orientation of the object in the measuring position are calculated from information from this measurement.

Abstract: A mobile robot includes an autonomous displacement device, a microphone, a loudspeaker, a mobile telephone module, and a voice analysis module able to interpret voice commands through the mobile telephone module to control the displacements of the mobile robot. The microphone is connected to the voice analysis module and thus also enables a human operator within earshot of the mobile robot to control the displacements of the mobile robot through voice commands.

Abstract: A robot-related information held at a robot user ad data held at a robot manufacturer as well as to enhance the user's sense of attachment to the robot. Each of personal terminal devices (31A to 31D) has both a function to send information on a robot 1 to a telecommunication line (39) and a function to receive answer information sent from a server (38) to the robot user via the telecommunication line, and the server (38) generates answer information on the basis of robot-related information sent from the personal terminal devices (31A to 31D) via the telecommunication line and reference information previously stored in an information storage device and corresponding to the robot-related information and sends the answer information to the personal terminal devices (31A to 31D) via the telecommunication line. The answer information is a diagnostic report on the robot.

Abstract: The CPU 102 detects that the posture of the apparatus main body has been shifted from the normal posture into an abnormal posture on the basis of the acceleration information obtained as detection output of the acceleration sensor 41. Then, it restores the normal posture by means of a playback technique for controlling various drivers 3D through 7D, using route planning data stored in advance in the memory 101 for restoring the normal posture from a falling posture.

Abstract: A method, system and program processing unit for a robot, by which the safety during execution of a program is improved. The program processing unit comprises a program interpreter, a command rejection device and a command execution device. When the program interpreter sends a command in a program to the command rejection device, the command rejection device searches a command rejection rule storage section for a command rejection rule corresponding to the command, and if the rule is detected, retlieves input values from one or more sensors and the source information of the program from a source information storage section, judges command rejection conditions included in the rule based on the sensor information, source information, the command and its parameters, dismisses the command when the conditions are met, and sends the command to the command execution device when the conditions are not met.

Abstract: A robot apparatus such as an entertainment robot is configured to select a transmission destination at which a communication appliance is located, and transmits predetermined information to the selected transmission destination. The predetermined information may be a self-diagnostic result or information concerning its surrounding environment. If the transmission fails, the robot apparatus selects an alternative transmission destination whereat another communication appliance is located, and transmits the information to the alternative destination.

Abstract: An articulated robot is controlled by dynamically modifying a combination of a hardware dependent middleware layer and a hardware independent application layer. A memory device for storing a plurality of sets of robot hardware dependent software programs and a memory device for storing a plurality of sets of robot hardware independent software programs are prepared. During execution of software programs, a software program compatible with a robot hardware configuration is introduced from the former memory device, and this software program is dynamically combined with the set of hardware independent software programs. The robot is thus appropriately controlled, meeting the needs of users.

Abstract: A method for performing the off-line programming of the movement of an industrial robot, which is dedicated to an industrial apparatus for processing. The method allows performing the off-line programming of the movement of a robot by using sequences of instructions, which adopt a relatively high level of abstraction. Therefore, it is possible to increased the operating flexibility of the robot and, at the same, to reduce programming times and costs.

Abstract: A method and a device for controlling a robot on the basis of data from sensors with their own sensor data structures. For solving the problem of adapting to different sensors and their data structures and consequently permitting in simple manner the use of different sensors without intervening in the actual robot control program, according to the system the sensor data are processed to robot control data with a control data structure usable by a system control program and a processing device suitable for the same is provided.

Abstract: When a position deviation of teaching point of a robot manipulator is detected during continuous operation of a robot system, device for correcting the teaching point without stopping continuous operation of the robot system is provided, thereby presenting device for operating the robot system efficiently without having effects on productivity of the production line. Having a changeover unit for changing over modes by selecting from an input mode for entering teaching points, an operation mode for operating according to the teaching points, and an in-process correction mode for correcting the teaching points stored in the storage unit according to the data from the input unit during operation of the robot manipulator, the mode is changed over to the in process correction mode by the changeover unit, the data for correcting the teaching point is entered from the input unit, and the control unit corrects and processes according to the entered data.

Abstract: A method and system for determining the dominant cerebral hemisphere of a subject. There is further provided a method and system for using information obtained regarding hemisphere dominance for programming electronic devices such as robots, prostheses, as well as methods for using such information during treatment and surgical procedures in order to obtain superior function and/or movement when there is injury or disease to an area of the brain. A vectorial view of the role of callosum in the underpinning lateralities of speech and handedness, and as such, provides a technical definition of handedness (i.e., which hemisphere of the cerebrum is dominant in a particular individual subject). This technical definition is then used to completely accurately replicate or predict voluntary movements of the subject and this information, in turn, can be utilized in the field of prosthetics and robotics in order to obtain more accurate depiction of brain function and hence, more authentic replication of movement.

Abstract: A robot which incorporates a body, two arms, two legs, several sensors, an audio system, a light assembly, and a video device. The sensors located throughout the body of the robot combined with an edge detection sensor allows the robot to interact with objects in the room, and prevents the robot from traveling off an edge or bumping into obstacles. The audio system allows the robot to detect and transmit sounds. The video device allows a user to remotely view the area in front of the robot. Additionally, the robot may operate in a plurality of modes which allow the robot to operate autonomously. The robot may operate autonomously in an automatic mode, a security mode, a greet mode, and a monitor mode. Further, the robot can be manipulated remotely.

Abstract: An autonomous mobile robot system allocates mapping, localization, planning and control functions to at least one navigator robot and allocates task performance functions to one or more functional robots. The at least one navigator robot maps the work environment, localizes itself and the functional robots within the map, plans the tasks to be performed by the at least one functional robot, and controls and tracks the functional robot during task performance. The navigator robot performs substantially all calculations for mapping, localization, planning and control for both itself and the functional robots. In one implementation, the navigator robot remains stationary while controlling and moving the functional robot in order to simplify localization calculations. In one embodiment, the navigator robot is equipped with sensors and sensor processing hardware required for these tasks, while the functional robot is not equipped with sensors or hardware employed for these purposes.

Abstract: When an emergency stop button 12 is pressed after a robot 1 passes a teaching point PN, and then reach a position PE, the robot 1 is stopped at a position PS diverted from the predetermined teaching route L. When the start button is pressed next, the robot 1 moves at a speed VL lower than a teaching speed Vt until it reaches a next first teaching point PN+1. Passing first teaching point PN+1, the robot 1 moves at the teaching speed Vt. The robot 1 moves at the low speed VL at a restarting time, so that an operator can check for interference between the robot 1 and the workpiece W. Passing the next first teaching point PN+1, the robot 1 moves at the teaching speed Vt, so that the reduction of the operation efficiency can be prevented.

Abstract: In a system and a method for remotely controlling a slave manipulator easily and highly accurately, operations of three master manipulators are consolidated, and one slave manipulator is remotely controlled in accordance with the consolidation result, thereby ensuring that the slave manipulator is moved along a target path.

Abstract: A robot for synchronizing with other robots without raising costs, a robot system, and a robot control method. The robot includes a storage portion (11) in which an operating program for the robot is stored, a main arithmetic portion (12) for analyzing the operating program stored in the storage portion, a sequencer portion (13) from which a signal from the main arithmetic portion is output, a driving portion (14) for driving the robot to which the signal from the main arithmetic portion (12) is input, and a communications portion (15) for communicating with apparatuses connected to a network. In the robot, a signal input from an apparatus connected to the sequencer portion (13) and a signal input to the communications portion (15) are input to the main arithmetic portion (12) so as to perform a calculation, and, based on the calculation, a signal is output from the main arithmetic portion (12) to the sequencer portion (13) or to the driving portion (14).

Abstract: A mobile robot placed on an automatic production line is provided. The mobile robot collects information on operating conditions of other mobile robots placed around it and flow of workpieces on the production line and determines action to be taken next based on the formation. A production system using such a mobile robot and a system inputting an operation program corresponding to a workstation into a mobile robot automatically are also provided. This enables measures to be taken quickly against a change in production, thereby providing a system which achieves high efficiency production.

Abstract: An operation data display device for a robot allowing an operator to recognize operation data on a plurality of operations performed by the robot at a time. When an arc start command is read out from a taught operation program by the robot controller, a welding start command is issued to an arc welding power supply. The arc welding power supply starts supply of a welding current to a welding torch mounted on a robot. Values of the welding current in a welding operation is outputted to a robot controller and sampled at every predetermined period and recorded. When an arc end command is read out from the operation program, the arc welding power supply terminates the welding operation and output of the values of the welding current. The robot controller transfers a file containing the data of the actual welding current to a personal computer.

Abstract: A robot control system and method for controlling a robot that performs working on a working path between a specified working start point and a working end point. The robot control system includes an interrupt request signal generating section for generating a signal for requesting change of the working path of the robot, an upper controller for generating an interrupt signal including a specified changed value for changing in real time the working path of the robot in accordance with the interrupt request signal generating section, and a robot controller for controlling in real time the operation of the robot in accordance with the interrupt signal from the upper controller. Thus, the motion of the robot that is working can be changed in real time.

Abstract: An industrial robot not malfunctioning if wiring to the safety device is connected after installation is presented. The robot makes an operator pay attention to that the safety device is set in cancel mode, and is hence safer. In the robot, all input connectors of the safety device wired from the outside are identical connectors. The connector has a terminal for feeding a status aside from a terminal for connecting to the safety device. Depending on status input from the outside, a warning sign is displayed on a display device. The warning sign is displayed only when a controller is operated.

Abstract: A robot system having a plurality of component units. The robot system includes a first storage device, and a second storage device. The robot system further includes a plurality of control device, with a first component control device provided with the first component and a second component control device provided with the second component wherein the first component control device controls the first component device and the second component control device controls the second component.

Abstract: An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.

Abstract: In a robot device, its functions and performance can be improved with ease. According to the present invention, control device detachably mounted on a prescribed component unit for driving and controlling each of the component units in a prescribed state is provided and thereby, the control device can be easily exchanged for a new one. Thus the robot device in which its functions and performance can be improved can be realized. Further, according to the present invention, a robot device comprises storing device detachably mounted on the prescribed component unit for storing desired behavior type information and thereby, the storing device can be readily exchanged for storing device storing behavior type information different from the behavior type information stored in the former storing device. Thus, the robot device in which its functions and performance can be improved with ease can be realized.

Abstract: A robot controller having a function of monitoring abnormality of a robot operation to prevent an accident by stopping supply of energy or operational substance to an operational tool when the operational tool is abnormally stopped. Motion command pulses for a robot motion are obtained by computing operations when a motion statement of the operation program is read out and stored in a shared memory. Motors for driving respective robot axes are driven based on the motion command pulses. When an I/O output command is issued on a signal line to actuate an arc welder, the operation control software demands to set a predetermined waiting time period to a timer. The managing software demands to start a countdown of the timer and informs the operation control software of an elapse of the set waiting time period.

Abstract: A robotic machine includes a machine tool removably supported in a mount for following a programmable path over a workpiece. A calibration pointer includes a housing configured like the tool for being supported in the mount, and a laser is affixed in the housing for emitting a laser beam at the workpiece. In a method of operation, the laser beam is projected from the laser in a focused spot at the workpiece at an offset therefrom. The spot permits accurate programming of the machine without contacting the workpiece.