Abstract: A robot control device includes: a trained model built by being trained on work data; a control data acquisition section which acquires control data of the robot based on data from the trained model; base trained models built for each of a plurality of simple operations by being trained on work data; an operation label storage section which stores operation labels corresponding to the base trained models; a base trained model combination information acquisition section which acquires combination information when the trained model is represented by a combination of a plurality of the base trained models, by acquiring a similarity between the trained model and the respective base trained models; and an information output section which outputs the operation label corresponding to each of the base trained models which represent the trained model.

Abstract: A robot system includes two arms, each having a hand at an end thereof, and a controller to control operation of the arms. The hand has an openable and closable holder. The controller includes hand-number determining circuitry to determine the number of hands used to hold a holdable object based on the size of the holdable object, and hold controlling circuitry to control the holder of one of the hands to open so as to hold the holdable object by an inner surface of the holder, when the number of hands to be used is one, and control the holders of the two hands to close so as to hold the holdable object by outer surfaces of the two holders, when the number of hands to be used is two.

Abstract: A robot may include a robot frame having a bottom plate, and a rear caster and a wheel module disposed on the bottom plate, wherein the wheel module may include a link base mounted in the bottom plate to be spaced apart from the rear caster, a rotation damper mounted in the link base and having an elastic member accommodated therein, a front link connected to the rotation damper through a connecting shaft, a front caster mounted in a front portion of the front link, a drive motor mounted in a rear portion of the front link, and a drive wheel configured to be rotated by the drive motor.

Abstract: Laundry pieces are to be gripped at various locations in laundries. This is labor-intensive. For this purpose, efforts are being made toward automating the gripping of laundry pieces. A camera has previously been used for this purpose. The automatic gripping of laundry pieces is implemented by way of a plurality of cameras, in that a plurality of cameras simultaneously record image data of respective laundry pieces to be gripped. On account thereof, the cameras always provide exploitable image data of the relevant laundry piece even when one camera is momentarily obscured, for example, or is defective or the viewing direction of a camera is not directed toward the face of the laundry piece. Image data of the laundry piece can always be generated by virtue of the plurality of cameras, said image data enabling a handling installation to automatically grip the laundry piece in a reliable manner.

Abstract: A robotic surgical system with user engagement monitoring includes a robot assembly, a surgeon console, and a tracking device. The robot assembly includes a robotic arm coupled to a surgical instrument. The surgeon console includes a display device and a handle communicatively coupled to at least one of the robot assembly, the robotic arm, or the surgical instrument. The tracking device includes an image capture device configured to capture an image of a user position reference point. At least one of the surgeon console or the tracking device is configured to compute a position of the user position reference point based on the image; determine whether a user is engaged with the surgeon console based on the computed position; and, in response to a determination that the user is disengaged from the surgeon console, cause the robotic surgical system to operate in a safe mode.

Abstract: A cleaning roller mountable to a cleaning robot includes an elongate shaft extending from a first end portion to a second end portion along an axis of rotation. The first and second end portions are mountable to the cleaning robot for rotating about the axis of rotation. The cleaning roller further includes a core affixed around the shaft and having outer end portions positioned along the elongate shaft and proximate the first and second end portions. The core tapers from proximate the first end portion of the shaft toward a center of the shaft. The cleaning roller further includes a sheath affixed to the core and extending beyond the outer end portions of the core. The sheath includes a first half and a second half each tapering toward the center of the shaft.

Abstract: A method for the continuous storage of internal operating states and visualization of past sequences of operations, as well as to a robot and/or robot controller, wherein the robot is preferably mounted on or next to a processing machine, in particular an injection molding machine and serves for the removal, handling, manipulation or further processing of injection molded parts which have just been produced. The robot controller records data, in particular changes of state, positions, internal parameters, time stamps, etc., and in case of occurrence of an error this most recently recorded information is linked to the error and stored, whereby the changes of state until the occurrence of the respective error are simulated and visually displayed for an analysis on the basis of a virtual model of the physical robot.

Abstract: A stereoscopic imaging platform includes a stereoscopic camera configured to record left and right images of a target site. A robotic arm is operatively connected to the stereoscopic camera, the robotic arm being adapted to selectively move the stereoscopic camera relative to the target. The stereoscopic camera includes a lens assembly having at least one lens and defining a working distance. The lens assembly has at least one focus motor adapted to move the at least one lens to selectively vary the working distance. A controller is adapted to selectively execute one or more automatic focusing modes for the stereoscopic camera. The automatic focusing modes include a continuous autofocus mode adapted to maintain a focus of the at least one stereoscopic image while the robotic arm is moving the stereoscopic camera and the target site is moving along at least an axial direction.

Abstract: A system and method provide feedback to guide a user to arrange components of a surgical robotic system in a suitable arrangement for the surgical procedure to be performed. An image of a medical procedure site at which a robotic manipulator and a second object such as a second robotic manipulator, patient table, patient, and bedside staff are located. The image is displayed for a user. The system uses computer vision to recognize the robotic manipulator and second object in the image and determine their relative positions. Based on the type of surgical procedure that is to be performed, the system determines a target position for the robotic manipulator and/or the second object, and displays, as an overlay to the displayed image, a graphical indication of the target position.

Abstract: A mobile body system for managing a mobile body that moves within a predetermined area includes a mobile body associated with a guest group including one or more guests, and a managing apparatus configured to manage an outer appearance of the mobile body. The managing apparatus includes an activity collector configured to collect activity information indicative of an activity of the guest within the predetermined area, and an outer appearance manager configured to change the outer appearance of the mobile body viewed by the guest based on the activity information collected by the activity collector.

Abstract: This disclosure includes a method for pruning a fruit plant. An exemplary method step includes obtaining an image of the fruit plant that has branches. Next, creating exclusion zones surrounding the branches. Then pruning the fruit plant based upon the exclusion zones.

Abstract: A virtual surgical robot being built from kinematic data is rendered to a display. A user input is received to effect a movement or a configuration of the virtual surgical robot. The kinematic data is modified based on evaluation of the movement or the configuration of the virtual surgical robot.

Abstract: Each remote operation terminal includes an own robot sound pressure information transmission unit, an own robot sound pressure information reception unit, an another terminal sound pressure information transmission unit, an another terminal sound pressure information reception unit, a sound pressure information output unit configured to output sound pressure information received by the own robot sound pressure information reception unit or the other terminal sound pressure information reception unit, and a conversation control unit configured to execute an inter-robot conversation mode that establishes conversation with another user using the own robot sound pressure information transmission unit and the own robot sound pressure information reception unit and an inter-terminal conversation mode that establishes conversation with another user using the other terminal sound pressure information transmission unit and the other terminal sound pressure information reception unit in such a way that they can be swit

Abstract: Aspects of the disclosure are directed towards artificial intelligence-based modeling of target objects, such as aircraft parts. In an example, a system initially trains a machine learning (ML) model based on synthetic images generated based on multi-dimensional representation of target objects. The same system or a different system subsequently further trains the ML model based on actual images generated by cameras positioned by robots relative to target objects. The ML model can be used to process an image generated by a camera positioned by a robot relative to a target object based on a multi-dimensional representation of the target object. The output of the ML model can indicate, for a detected target, position data, a target type, and/or a visual inspection property. This output can then be used to update the multi-dimensional representation, which is then used to perform robotics operations on the target object.

Abstract: A cleaning route determination system includes an analyzer that analyzes behavior of airflow and particles inside a facility, a map generator that generates a dust accumulation map indicating one or more dust accumulation areas inside the facility and one or more dust amounts corresponding to the one or more dust accumulation areas, and a route calculator that determines a first route from second routes. Each of the second routes is a route for a cleaner to pass through, within a certain period of time, at least one of the one or more dust accumulation areas. A total amount indicating a sum of dust amounts corresponding to dust accumulation areas included the first route is largest among total amounts corresponding to the second routes, each of the total amounts indicating a sum of dust amounts corresponding to dust accumulation areas included in each of the second routes.

Abstract: A method for producing and replaying courses based on virtual reality is provided. The method is used in an electronic device and the method includes steps of: receiving a 3D model; generating a model data package corresponding to the 3D model according to the 3D model, wherein the model data package at least includes several objects applied to the 3D model; recording, by several virtual cameras, actions of a user who manipulates the objects in virtual reality, and generating action videos corresponding to the objects; and generating a course data package, wherein the course data package includes the model data package and an animation package including action videos.

Abstract: Embodiments herein describe a robotic system that uses range sensors to identify a vector map of an environment. The vector map includes lines that outline the shape of objects in the environment (e.g., shelves on the floor of a warehouse). The system identifies one or more line segments representing the boundary or outline of the objects in the environment using range data acquired by the range sensors. The robotic system can repeat this process at different locations as it moves in the environment. Because of errors and inaccuracies, line segments formed at different locations may not clearly align even when these line segments correspond to the same object. To account for this error, the robotic system match line segments identified at a first location with line segments identified at a second location. The matched line segments can be merged into a line that is stored in the vector map.

Abstract: An image processing apparatus capable of analyzing a cause of an abnormality of a system efficiently. The image processing apparatus includes a monitoring unit and an analysis unit. The monitoring unit monitors a monitoring object to detect occurrence of an abnormality in the monitoring object by applying an image process to a first area in each of images of the monitoring object that are photographed at different time points. The analysis unit analyzes a cause of an abnormality detected by the monitoring unit by applying an image process to a second area that is different from the first area in an image of a time point preceding a time point at which the abnormality is detected.

Abstract: An optical scanning apparatus includes a MEMS substrate, a substrate fixing section to which the MEMS substrate is fixed, and an environment detection sensor that detects an environment factor associated with the mirror. The environment detection sensor is disposed in a position where the environment detection sensor overlaps with or is adjacent to the substrate fixing section but does not overlap with the MEMS substrate in a plan view viewed in a direction perpendicular to a surface of the MEMS substrate.

Abstract: A metallurgical technology probe insertion calibration method employing visual measurement and an insertion system thereof are provided. A vision sensor (5), a cylindrical rod (1), and a metallurgical technology probe (2) are used to construct an agreed region (6). In the agreed region (6), the vision sensor (5) acquires relative positions and orientations of the cylindrical rod (1) and the metallurgical technology probe (2), and an acquired position and orientation result is used to control a driving device (3) to insert the cylindrical rod (1) into the metallurgical technology probe (2). To improve the accuracy and reliability of the insertion, a standard probe (7) and a fixing device (4) are used together to perform effective calibration on an initial position, orientation, and axis in the insertion.

Abstract: Grasping remains a complex topic for simulation. Embodiments provide a method to automatically determine grasping cues for tools. An example embodiment scans a CAD model representing a real-world tool to generate a series of sections from the CAD model. In turn, properties of each section are extracted and one or more regions of the CAD model are identified based upon the extracted properties and a tool family to which the tool represented by the CAD model belongs. To continue, a respective classification for each of the one or more identified regions is identified and grasping cues for the CAD model are generated based upon the determined respective classification for each of the one or more regions.

Abstract: A substrate transport apparatus including a transport chamber, a drive section, a robot arm having an end effector at a distal end configured to support a substrate and being connected to the drive section generating at least arm motion in a radial direction extending and retracting the arm, an imaging system with a camera mounted in a predetermined location to image at least part of the robot arm, and a controller connected to the imaging system to image the arm moving to a predetermined repeatable position, the controller effecting capture of a first image of the robot arm proximate to the repeatable position decoupled from encoder data of the drive axis, wherein the controller calculates a positional variance of the robot arm from comparison of the first image with a calibration image, and from the positional variance determines a motion compensation factor changing the extended position of the robot arm.

Abstract: A system includes a memory storing computer-readable instructions and at least one processor to execute the instructions to receive a shot sheet comprising data and metadata associated with an animation project, parse the shot sheet to generate instructions associated with at least one shot in the animation project, send the instructions to an animation program using an application programming interface (API), generate the animation project based on the instructions using the animation program, render the animation project into a video, and store the video in a database and generate a uniform resource locator (URL) for the video.

Abstract: A LIDAR system includes a laser emitter configured to emit a laser pulse in a sample direction of a sample area of a scene. A sensor element of the LIDAR system is configured to sense a return pulse, which is a reflection from the sample area corresponding to the emitted laser pulse. The LIDAR system may compare a width of the emitted laser pulse to a width of the return pulse in the time-domain. The comparison of the width of the emitted pulse to the width of the return pulse may be used to determine an orientation or surface normal of the sample area relative to the sample direction. Such a comparison leads to a measurement of the change of pulse width, referred to as pulse broadening or pulse stretching, from the emitted pulse to the return pulse.

Abstract: Traditionally, robots may learn to perform tasks by observation in clean or sterile environments. However, robots are unable to accurately learn tasks by observation in real environments (e.g., cluttered, noisy, chaotic environments). Methods and systems are provided for teaching robots to learn tasks in real environments based on input (e.g., verbal or textual cues). In particular, a verbal-based Focus-of-Attention (FOA) model receives input, parses the input to recognize at least a task and a target object name. This information is used to spatio-temporally filter a demonstration of the task to allow the robot to focus on the target object and movements associated with the target object within a real environment. In this way, using the verbal-based FOA, a robot is able to recognize “where and when” to pay attention to the demonstration of the task, thereby enabling the robot to learn the task by observation in a real environment.

Abstract: One embodiment provides a robotic system comprising: a robot, the robot further comprising a moveable robotic arm that moves within the robot's reference space; a depth-sensing camera, the camera having a reference frame that is in substantial view of the robot's reference space; a controller, the controller further comprising a processor and a computer readable memory that comprises instructions such that, when read by the controller, the controller inputs image data from the camera and sends signals to the moveable robotic arm, the instructions further comprising the steps of: calibrating the camera to the robot by instructing the robot to engage in a number of robot poses; extracting the location of the robot poses to obtain the robot poses in the camera reference frame; and creating a transformation that transforms robot points afterwards to camera points.

Abstract: A robot controller configured to assist an operation of a user, by effectively utilizing both techniques of augmented reality and mixed reality. The robot controller includes: a display device configured to display information generated by a computer so that the information is overlapped with an actual environment, etc.; a position and orientation obtaining section configured to obtain relative position and orientation between the display device and a robot included in the actual environment; a display controlling section configured to display a virtual model of the robot, etc., on the display device; an operation controlling section configured to operate the virtual model displayed on the display device; and a position and orientation determining section configured to determine the position and/or orientation of the robot by using the position and/or orientation of the operated virtual model and using the relative position and orientation between the robot and the display device.

Abstract: A surface evaluation system that includes one or more vision systems that generate target surface data during evaluation of a surface, the one or more vision systems comprising two or more of: at least one light, a camera, a structured light camera, a laser scanner and a 3D scanner.

Abstract: A robotic vehicle may include one or more functional components configured to execute lawn care function, a sensor network comprising one or more sensors configured to detect conditions proximate to the robotic vehicle, a positioning module configured to determine robotic vehicle position while the robotic vehicle traverses a parcel, and a boundary management module configured to enable the robotic vehicle to be operated within a bounded area. The bounded area may include a variable boundary, and the boundary management module may be configured to receive instructions from an operator to adjust the variable boundary.

Abstract: A workpiece picking device includes a sensor that measures the workpieces, a hand that grasps the workpieces, a robot that moves the hand, and a control device thereof. The control device has a position orientation calculation part that calculates position, orientation and the like of the workpieces, a grasping orientation calculation part that calculates a grasping orientation of the workpieces by the hand, a route calculation part that calculates a route through which the hand moves to the grasping orientation, a sensor control part, a hand control part, a robot control part, a situation determination part that determines the situation of the workpieces on the basis of measurement result or the like of the three-dimensional position, and a parameter modification part that modifies at least one of a measurement parameter and various calculation parameters, when the determination result of the situations of the workpieces satisfies a predetermined condition.

Abstract: Described herein are systems, devices, and methods for controlling a mobile cleaning robot to escape from a stuck state using a learned robot escape behavior model. The model is trained using reinforcement learning at a cloud-computing device or networked devices. A mobile cleaning robot comprises a drive system, a sensor circuit to collect sensor data associated with a detected stuck state, and a controller circuit that can receive the trained robot escape behavior model, and apply the sensor data associated with the detected stuck state to the trained robot escape behavior model to determine an escape policy. The drive system or one or more actuators of the mobile robot can remove the mobile robot from the stuck state according to the determined escape policy.

Abstract: Systems and methods are provided for acquiring images of objects. Light of different types (e.g., different polarization orientations) can be directed onto an object from different respective directions (e.g., from different sides of the object). A single image acquisition can be executed in order to acquire different sub-images corresponding to the different light types. An image of a surface of the object, including representation of surface features of the surface, can be generated based on the sub-images.

Abstract: A robot control apparatus includes a controller to control operation of a robot, a storage to store operation logs with different preservation periods for the operation of the robot, a collector to, when a specific event occurs, select and collect an information element corresponding to a type of the event from the operation logs, a record generate to create a record from the information element collected by the collector, and a record preserver to preserve the record.

Abstract: There is provided a method for picking up an object from a bin to be implemented by a robotic arm including a controller and a picking-up module. The method includes: recognizing, by the controller, at least one object in the bin based on an image of an interior of the bin so as to determine a type of each object; determining, by the controller, a score for each object based on the type thereof; determining, by the controller, whether a greatest score among the score(s) of the at least one TBT object is greater than a predetermined value; and by the picking-up module, picking up one of the at least one TBT object that has the greatest score when it is determined that the greatest score is greater than the predetermined value.

Abstract: A robotic device management service obtains, from a client device operating in a first network, a request to obtain data from a robotic device operating in a second network. In response to the request, the robotic device management service issues a token to the client device that can be provided in future queries to obtain the data. The robotic device management service provides parameters of the request to the robotic device to cause the robotic device to generate and provide the data to the robotic device management service. In response to another request to obtain the data, where the other request includes the token, the robotic device management service queries a database to determine whether the data is available from a storage location of the service. If the data is available, the service provides the data to the client device to fulfill the other request.

Abstract: A machine integrated positioning system shows an operator where to place a raw part in the press brake or other machinery. Further, the operator is informed if the dimensions associated with the raw part are, or are not, correct to produce the planned finished part. The operator is visually shown how the raw part is to be oriented. The operator is informed if the raw part is right-side-up, along with other pre-final placement information. If these and other conditions are not met, the machine integrated positioning system may prevent the press brake and other machinery from cycling.

Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. Within the virtual reality system, various user modes enable different kinds of interactions between a user and the virtual robotic surgical environment. For example, one variation of a method for facilitating navigation of a virtual robotic surgical environment includes displaying a first-person perspective view of the virtual robotic surgical environment from a first vantage point, displaying a first window view of the virtual robotic surgical environment from a second vantage point and displaying a second window view of the virtual robotic surgical environment from a third vantage point. Additionally, in response to a user input associating the first and second window views, a trajectory between the second and third vantage points can be generated sequentially linking the first and second window views.

Abstract: A method for controlling a robotic device is presented. The method includes positioning the robotic device within a task environment. The method also includes mapping descriptors of a task image of a scene in the task environment to a teaching image of a teaching environment. The method further includes defining a relative transform between the task image and the teaching image based on the mapping. Furthermore, the method includes updating parameters of a set of parameterized behaviors based on the relative transform to perform a task corresponding to the teaching image.

Abstract: A robot programming system according to an aspect of the present disclosure includes: a robot program storage section; a press program storage section; a template program setting section that causes the robot program storage section to store, as an initial version of a robot program, a template program that instructs a robot how to move basically; a model placing section that places three-dimensional models of a workpiece, the robot, and a press machine in a virtual space; a robot movement processing section that causes the three-dimensional model of the robot to move; a press movement processing section that causes the three-dimensional model of the press machine to move; an interference detection section that detects interference between the three-dimensional models; and a robot program modification section that modifies a robot program stored in the robot program storage section to prevent interference detected by the interference detection section.

Abstract: Deep machine learning methods and apparatus related to manipulation of an object by an end effector of a robot. Some implementations relate to training a deep neural network to predict a measure that candidate motion data for an end effector of a robot will result in a successful grasp of one or more objects by the end effector. Some implementations are directed to utilization of the trained deep neural network to servo a grasping end effector of a robot to achieve a successful grasp of an object by the grasping end effector. For example, the trained deep neural network may be utilized in the iterative updating of motion control commands for one or more actuators of a robot that control the pose of a grasping end effector of the robot, and to determine when to generate grasping control commands to effectuate an attempted grasp by the grasping end effector.

Abstract: According to an embodiment, an article posture changing device includes: a first end effector configured to grasp a projected tag of an article by adsorption; an arm unit configured to support the first end effector and move the first end effector along at least a vertical direction; and a controller configured to control the arm unit and the first end effector to grasp the tag, lift the article upward, separate the article from a placement surface, change an angle of the article by weight thereof, move the article downward, place the article on the placement surface, and release the grasp of the tag.

Abstract: A vehicle control device includes a communication unit configured to be communicable with an autonomous driving vehicle that autonomously travels, a determination unit configured to determine whether there is a possibility that communication between the autonomous driving vehicle and the vehicle control device is disconnected, based on information indicating a communication status between the autonomous driving vehicle and the vehicle control device, and a travel instruction unit configured to transmit, when there is the possibility that the communication between the autonomous driving vehicle and the vehicle control device is disconnected, a travel instruction to the autonomous driving vehicle via the communication unit before the communication between the autonomous driving vehicle and the vehicle control device is disconnected. The travel instruction matches conditions associated with travel control of the autonomous driving vehicle.

Abstract: An information processing device includes processing circuitry. The processing circuitry obtain target information that indicates at least one of a distance to a target object or a position of the target object. The processing circuitry generate, based on the target information, map information of a space including a plurality of areas, the map information indicating presence or absence of the target object in a first area included in the plurality of areas, and a detailed position of the target object in the first area.

Abstract: A dirtiness level determining method applied to an electronic device comprising an image sensor. The method comprises: (a) capturing a first image at a first time point according to first type of light; (b) capturing a second image at a second time point after the first time point according to the first type of light; (c) calculating a first fixed pattern according to a first difference between the first image and the second image; and (d) calculating a first dirtiness level of the image sensor according to the first fixed pattern; (e) generating a first notifying message if the first dirtiness level is higher than a dirtiness threshold.

Abstract: The present disclosure provides a method and an apparatus for controlling a robot, a method and an apparatus for providing service and an electronic device. The method comprises: creating, by a local robot, a file system snapshot of an application in a local operating system, and synchronizing file system data of the application to a cloud robot; running, by the cloud robot, on a cloud virtual machine pre-running the same operating system as that of the local robot, the same application as that of the local robot (101); and reversely synchronizing a running result of the application to the local robot (102).

Abstract: A method to adjust the height of a display is provided. One terminal of the telescopic trolley is connected to a first surface of the display and is separated from the lower edge of the display by a first distance. The lower edge of the display is away from the ground by a second distance. The method includes: obtaining a first height value indicating a user's height, an eye height or a shoulder height, searching for a second height value corresponding to the first height value in the look-up table according to the first height value, calculating the sum of the first distance and the second distance, comparing the sum with the second height value to obtain a comparison result, and adjusting the length of the telescopic trolley according to the comparison result, so that the sum is equal to the second height value.

Abstract: Provided is a method for the computerized control of an end element of a machine tool. The method includes a method step of sensing a plurality of optical markers in a work environment of the machine tool by means of an optical measuring system. The method includes a method step of determining a first relative pose between the end element and a workpiece on the basis of the plurality of sensed optical markers. The method includes a method step of determining a first correction value on the basis of a comparison of the first relative pose with a reference pose. The method includes a method step of controlling the end element for machining the workpiece taking the first correction value into consideration.

Abstract: A communication robot includes: an operation part; and a communication arbitration unit configured to exhibit a robot mode for autonomously operating the operation part by applying a first operational criterion and an avatar mode for operating the operation part based on an operation instruction sent from a remote operator by applying a second operational criterion to arbitrate communication among three parties, that is, the robot mode, the avatar mode, and a service user.

Abstract: There is provided a method and an apparatus for controlling a robot arm. In this control scheme, a position error indicating a deviation between a command position, which is a control target position, and a current position, which is a position where the arm of the robot is currently located, is acquired. When the acquired position error exceeds a threshold, a new corrected command position between the current position and the command position is set. After the arm of the robot is moved to the corrected command position, a new corrected command position reset between the corrected command position serving as a new current position and the command position. Reconfiguration of a corrected command position is iterated until a current position of the robot arm becomes equal to the command position so that movement of the robot arm is achieved from the current position to the command position.

Abstract: A communication robot includes: an operation part; and a communication arbitration unit configured to exhibit one of a robot mode for autonomously operating the operation part by applying a first operational criterion and an avatar mode for operating the operation part based on an operation instruction sent from a remote operator by applying a second operational criterion to arbitrate communication with a service user, in which the communication arbitration unit operates, when it is intended to exhibit the avatar mode in accordance with an operation request from the remote operator, the operation part in the robot mode and asks the service user whether to allow the mode to be switched to the avatar mode.