Abstract: A method and apparatus of tracking poses of a rolling-shutter camera in an augmented reality (AR) system is provided. The method and apparatus use camera information and inertial sensor readings from Inertial Measurement Unit (IMU) to estimate the pose of the camera at a reference line. Thereafter, relative pose changes at scanlines may be calculated using the inertial sensor data. The estimated reference pose of the camera is then further refined based on the visual information from the camera, the relative pose changes and the optimized reference line pose of a previous image. Thereafter, the estimate of the scanline poses may be updated using the relative pose changes obtained in the earlier steps.

Abstract: The present invention relates to a computer-implemented method. The method includes steps of causing a visual programming panel including a timeline editor and a variety of action blocks configured to enable a variety of basic actions correspondingly for a target robot to perform to be displayed in a visualization interface provided by a robot simulator shown on a web browser; at the visual programming panel, operating by a user to group at least two action blocks representing at least two basic actions selected from the variety of basic actions to form an action collection; and generating a program capable of commanding an end effector equipped on the target robot in a work cell to perform according to the action collection in the robot simulator.

Abstract: An image processing device is provided with: a work target object detecting unit which employs first machine learning to analyze a first image captured using a first angle of view in such a way as to include the work target object, to detect the position of the work target object in the first image; a work status detecting unit which, on the basis of the detected position of the work target object, employs second machine learning to analyze a second image captured using a second angle of view narrower than the first angle of view in such a way as to include the work target object, to detect the work status of the work target object; and a work instruction creating unit which, on the basis of the detected work status, creates work instruction information indicating the content of a work instruction with respect to the work target object.

Abstract: An automatic charging vehicle, a method for operating the automatic charging vehicle, and an automatic charging system. The automatic charging vehicle includes: an automatic traveling module, which is configured to move, according to a route between the automatic charging vehicle and a device to be charged, to the device to be charged; a power module, which is configured to store and provide electric energy; and an automatic docking and separating device, which is configured to execute docking and separating between a first connector and a second connector capable of being in electrical contact with the first connector, the first connector and the second connector being used for transmitting electric energy.

Abstract: An autonomous working device comprises at least one sensor configured to generate a sensor signal based on a physical interaction of the autonomous working device with a physical entity, at least one actuator configured to perform a working task, and a controller configured to generate a control signal for controlling the actuator. The controller is configured to evaluate the sensor signal, to determine a pattern of a physical interaction of the autonomous working device with a person and to generate the control signal based on the determined pattern of a physical interaction.

Abstract: A computer-implemented method of engineering autonomous system with reusable skills includes displaying a graphical user interface simulating a physical environment. The graphical user interface depicts one or more simulated objects corresponding to one or more physical objects. Graphical markers are created on the simulated objects based on instructions provided by a user via the graphical user interface. The position and orientation of each graphical marker is determined with respect to the simulated objects. A skill function is created which comprises a functional description for using a controllable physical device to interact with the physical objects based on the position and orientation of each graphical marker. Executable code operable to perform the skill function is created and used to actuate the controllable physical device.

Abstract: A robot for outputting various reactions according to user behaviors is disclosed. A control method for a robot using an artificial intelligence model, according to the present disclosure, comprises the steps of: acquiring data related to at least one user; inputting the data related to the at least one user into the artificial intelligence model as learning data so as to learn a user state for each user of which there is at least one; determining representative reactions corresponding to the user states learned on the basis of the data related to the at least one user; and inputting the input data into the artificial intelligence model so as to determine a user state of a first user and controlling the robot on the basis of a representative reaction corresponding to the determined user state, when input data related to the first user among the users, of which there is a least one, is acquired.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for measuring and reporting calibration accuracy of robots and sensors assigned to perform a task in an operating environment. One of the methods includes receiving a request to perform a calibration process for one or more robots in an operating environment; in response, performing the calibration process including executing a calibration program that generates movement data representing movements by the one or more robots within the operating environment; computing a measure of calibration accuracy from the movement data; receiving an input program to be executed in the operating environment; determining that the measure of calibration accuracy does not satisfy an accuracy tolerance of the input program; and in response, generating a notification representing that the measure of calibration accuracy generated from performing the calibration process does not satisfy the accuracy tolerance of the input program.

Abstract: One example method for improving the efficiency of robotic surgical procedures by integrating applications into the surgeon console user interface is presented. The method includes generating and displaying a first graphical user interface at a surgeon console associated with a robotic surgical device during a robotic surgical procedure, and detecting a combination of user actions through control devices of the surgeon console. The method further includes responsive to detecting the combination of the user actions, causing surgical tools of the robotic surgical device to be locked and generating and displaying a second graphical user interface at the surgeon console which includes user interfaces of applications and is configured to be interactive through the control devices. The method further includes detecting a user action to exit the application mode, causing the surgical tools to be unlocked, and updating and displaying the first graphical user interface at the surgeon console.

Abstract: Disclosed is an electronic apparatus. The electronic apparatus includes: a camera; a memory configured to store attribute information and environment information; and a processor configured to identify a plurality of objects based on an image obtained by the camera, identify a first context of a first object, from among the plurality of objects, based on a relationship between attribute information of the plurality of objects and the environment information, and control a traveling state of the electronic apparatus based on the first context.

Abstract: The present disclosure relates to a method of controlling movement of a cart in response to a change in a travel surface using artificial intelligence and a cart implementing the same, and in a cart robot of one embodiment, an IMU sensor senses a change in a travel surface, and an obstacle sensor senses a distance from an installed object placed in a direction of an advance of the cart robot, to control a moving part of the cart robot.

Abstract: Disclosed is an electronic apparatus. The electronic apparatus includes: a camera; a memory configured to store attribute information and environment information; and a processor configured to identify a plurality of objects based on an image obtained by the camera, identify a first context of a first object, from among the plurality of objects, based on a relationship between attribute information of the plurality of objects and the environment information, and control a traveling state of the electronic apparatus based on the first context.

Abstract: A robotic surgical system and method of operating the same. A manipulator supports a tool that has a TCP and manipulates a target bone. A navigation system has a localizer to monitor states of the manipulator and the target bone. Controller(s) determine commanded states of the TCP to move the tool along a cutting path relative to the target bone to remove material from the target bone. The controller(s) determine actual states of the TCP responsive to commanded movement of the tool along the cutting path, wherein each one of the commanded states of the TCP has a corresponding one of the actual states of the TCP for a given time step. The controller(s) compare the corresponding commanded and actual states of the TCP for one or more given time steps to determine a deviation and modify operation of the tool to account for the deviation.

Abstract: Systems and methods for operating an end effector include an end effector for grasping a material, a drive system coupled to the end effector, and a processor. The processor is configured to use the drive system to grasp a material using the end effector, determine a grasping separation parameter of the end effector, determine, based on the determined grasping separation parameter, a prediction of success or failure in configuring the end effector for firing a staple through the material, and based on the determined grasping separation parameter, output an indicator of whether it is safe to proceed with stapling of the material grasped by the end effector.

Abstract: A system that uses 3D scanning and a process agnostic pointing device that is used in conjunction with user input to create a robot program.

Abstract: An input control for providing motion commands to an actuator, including an input screen on which a plurality of movement symbols are arranged, each of which is associated with a motion command for the actuator, and which includes a sequence track for lining up copies of the movement symbols along an alignment direction, having a processor which is configured to interrogate the sequence track in order to determine a sequence of motion commands and to output the sequence of motion commands and/or an actuator control signal sequence which is dependent on the sequence of motion commands, and wherein a sensor signal track is arranged in parallel with the sequence track, which is configured for displaying a sensor signal sequence of at least one sensor signal of a sensor system assigned to the actuator.

Abstract: Disclosed is an electronic apparatus. The electronic apparatus includes: a camera; a memory configured to store attribute information and environment information; and a processor configured to identify a plurality of objects based on an image obtained by the camera, identify a first context of a first object, from among the plurality of objects, based on a relationship between attribute information of the plurality of objects and the environment information, and control a traveling state of the electronic apparatus based on the first context.

Abstract: A programming support apparatus includes: a storage device configured to store work jobs each of which defines operation pattern of a robot; and circuitry configured to: set an environmental condition of the robot at one or more execution timings associated with the work jobs in accordance with user input; select a plurality of the work jobs in accordance with the user input; and check whether at least one work job of the plurality of work jobs satisfies the environmental condition of the robot at an execution timing of the one work job based on an execution flow of the plurality of work jobs.

Abstract: A display method according to an aspect of the present disclosure is a display method for displaying, on a display section, a simulation of a robot that executes work on an object with an end effector provided in an arm. The display method includes receiving information concerning a type of the robot, receiving information concerning the end effector, receiving information concerning a position or a posture of a control point for controlling arms, calculating rigidity at a working point of the end effector based on the received information concerning the type of the robot, the received information concerning the end effector, and the received information concerning the position or the posture of the control point, and displaying a result of the calculation of the rigidity on the display section as a figure.

Abstract: A method for generating a control program (54) for a laboratory automation device (12) comprises: receiving configuration data (46) of the laboratory automation device (12), the configuration data (46) encoding positions of components (22) in the laboratory automation device (12); generating a three-dimensional model (58) of the components (22) of the laboratory automation device (12) from the configuration data (46), the three-dimensional model (22) additionally including a virtual pipette (60); displaying the three-dimensional model (58) with a virtual reality headset (14); receiving movement data (50) of a motion sensing controller (16) controlled by a user wearing the virtual reality headset (14), the movement data (50) indicating a three-dimensional movement of the motion sensing controller (16) in space; determining a movement of the virtual pipette (60) from the movement data (50) in the three-dimensional model (58) and updating the three-dimensional model (58) according to the movement of the virtual

Abstract: A robot system includes a robot arm, a vehicle being movable and supporting the robot arm, and a tilt sensor configured to detect a tilt relative to a reference direction of at least one of the robot arm and the vehicle. The control method includes controlling the robot arm to sequentially position a control point of the robot arm to a plurality of target points. The controlling of the robot arm includes, when the control point is located at the target point where the control point is to be located one point previously to an object target point of the plurality of target points, resetting a control parameter for positioning the control point at the object target point based on the tilt from the reference direction, and positioning the control point at the object target point using the reset control parameter.

Abstract: The invention provides a robot system that enables easy, efficient, and precise checking through simulation. The invention includes a virtual model display unit configured to place virtual models in a virtual space on a screen and display the virtual models simultaneously with real equipment; a robot program teaching unit configured to perform teaching of a robot program in the virtual space; a real space virtual model display unit configured to display the virtual models and teaching points of the robot program in a real space, based on a positional relationship in the virtual space; and a virtual model placement position correcting unit configured to correct placement positions of the virtual models to match the real equipment in the real space.

Abstract: A robot for performing an assembly operation is provided. The robot comprises a processor configured to determine a control law for controlling a plurality of motors of the robot to move a robotic arm according to an original trajectory, execute a self-exploration program to produce training data indicative of a space of the original trajectory, and learn, using the training data, a non-linear compliant control law including a non-linear mapping that maps measurements of a force sensor of the robot to a direction of corrections to the original trajectory defining the control law. The processor transforms the original trajectory according to a new goal pose to produce a transformed trajectory, update the control law according to the transformed trajectory to produce the updated control law, and command the plurality of motors to control the robotic arm according to the updated control law corrected with the compliance control law.

Abstract: An input control device is disclosed. The input control device includes a central portion coupled to a multi-axis force and torque sensor, which is configured to receive input control motions from a surgeon. The central portion is flexibly supported on a base. The input control device also includes a rotary joint coupled to a rotary sensor. The input control device is configured to provide control motions to a robotic arm and/or a robotic tool based on input controls detected by the multi-axis force and torque sensor and the rotary sensor.

Abstract: An information processing device is configured to virtually execute motion of a device including a plurality of apparatuses. The information processing device includes a display portion and a control portion. The control portion is configured to extract an apparatus to be virtually moved, from the apparatuses on a basis of movement ranges of the apparatuses and display the apparatus on the display portion, as a check object.

Abstract: A teaching apparatus includes a display unit that displays a command display area in which a plurality of input motion commands of a robot are displayed, an extraction display area in which at least one motion command extracted from the plurality of motion commands displayed in the command display area is displayed, and a settings input area in which details of the extracted motion command are set, and a display control unit that controls actuation of the display unit, wherein the display control unit extracts and displays a motion command related to one of position information, velocity information, and acceleration information of the robot out of the plurality of motion commands displayed in the command display area in the extraction display area.

Abstract: A robot control device includes manual pulse generation units that generate pulses having a pulse number depending on an operation amount of an operator, command signal calculation units that calculate an operation command signal to a robot based on a pulse number to be input, and a pulse number limiting unit that limits, to a threshold, the pulse number to be input into the command signal calculation units, in a case or cases where the pulse number generated by the manual pulse generation units is larger than the predetermined threshold, where, in a case or cases where the pulse number generated by the manual pulse generation units is equal to or less than the threshold, the pulse number is output as it is.

Abstract: A method for engaging and disengaging a surgical instrument of a surgical robotic system including receiving a sequence of user inputs from one or more user interface devices of the surgical robotic system; determining, by one or more processors communicatively coupled to the user interface devices and the surgical instrument, whether the sequence of user inputs indicates an intentional engagement or disengagement of a teleoperation mode in which the surgical instrument is controlled by user inputs received from the user interface devices; in response to determining of engagement, transition the surgical robotic system into the teleoperation mode; and in response to determining of disengagement, transition the surgical robotic system out of the teleoperation mode such that the user interface devices are prevented from controlling the surgical instrument.

Abstract: A moving robot and a control method thereof according to the present invention create a cleaning map including information on a travelable area of a cleaning area based on obstacle information, create a create a manufactured user map by changing forms and outlines by area with respect to a plurality of area configuring the cleaning map, and create a user map having a form similar to that of the cleaning are in a real indoor space by changing a form and an outline of a map including information on the travelable area according to an arear, so that a user easily recognizes a position of each area to input a cleaning command through the map, and a cleaning command with respect to an area which the moving robot cannot run is prevented from being input. Since the moving robot does not unnecessarily move an area, operation power consumption is reduced. The moving robot may run a cleaning area with limited power to efficiently clean the cleaning area.

Abstract: The collaborative operation support device includes a display device including a display area; and a processor configured to detect, based on an image in which the operator or the robot is represented, a position of a section of the robot in the display area when the operator looks at the robot through the display area, the section associated with an operation mode of the robot specified by means of an input device; select, in accordance with the specified operation mode of the robot, display data corresponding to the specified mode among display data stored in a memory; and display the selected display data in the display area of the display device in such a way that the selected display data is displayed at a position that satisfies a certain positional relationship with the position of the section of the robot in the display area.

Abstract: A method of handling safety in a working area of an industrial system, wherein at least one machine is arranged to operate in the working area, at least one manually operable safety input device is provided in the working area, and one or more of the at least one machine and the at least one safety input device is movable to different positions in the working area, the method including continuously or repeatedly determining whether one or more of the at least one the machine is in proximity to one or more of the at least one safety input device; and associating at least one machine with the at least one safety input device upon determining that one or more of the at least one machine is in proximity to one or more of the at least one safety input device, such that the at least one associated machine can be brought to a safe state by means of the at least one safety input device.

Abstract: Various examples are described for using a movement sensor to detecting an activity of an infant. In an example, an activity classification system includes a sensor configured to measure the activity of an infant and an external monitor. The monitor receives, from a sensor, a time series of data comprising an inertial measurement for each a time period. The monitor determines, from the time series and by using a predictive model, an activity from a list of identified activities. Examples of identified activities are deep sleep, light sleep, sitting, awake, nursing, or bottle feeding.

Abstract: An apparatus such as a robot capable of performing goal oriented tasks may include one or more touch sensors to receive touch perception feedback on the location of objects and structures within an environment. A fusion engine may be configured to combine touch perception data with other types of sensor data such as data received from an image or distance sensor. The apparatus may combine distance sensor data with touch sensor data using inference models such as Bayesian inference. The touch sensor may be mounted onto an adjustable arm of a robot. The apparatus may use the data it has received from both a touch sensor and distance sensor to build a map of its environment and perform goal oriented tasks such as cleaning or moving objects.

Abstract: A robotic-arm apparatus may include a robotic hand dimensioned to approximate a size and movement of a user's hand. The robotic-arm apparatus may also include one or more tactile-sensing pads coupled to at least a portion of the robotic hand, wherein a tactile-sensing pad is configured to detect surface data about a surface in a real-world environment. Additionally, the robotic-arm apparatus may include an actuator configured to move the robotic hand to mimic a motion of a glove worn by the user's hand, wherein the glove is configured to provide haptic feedback corresponding to the surface data to the user's hand. Various other apparatuses, systems, and methods are also disclosed.

Abstract: First information is acquired that is information of at least one of information about a user of a robot or situation information that is information about a situation around the robot. Conversation data is generated on the basis of the first information that is acquired. The conversation data creates an impression on the user that the robot and a predetermined target are having a conversation that corresponds to at least the first information. An outputter is controlled so as to output information based on the generated conversation data, thereby creating an impression on the user that the robot and the predetermined target are having the conversation that corresponds to at least the first information. The robot does not include a function that executes a conversation of a level greater than or equal to a level of the conversation based on the conversation data.

Abstract: To provide a machine teaching terminal, a machine, a program, and a safety confirmation method capable of ensuring the safety of a worker without providing an additional device or the like. A machine teaching terminal communicably connected to a robot so as to be used for teaching the robot within a work area of the robot includes a touch panel display configured to accept input performed by a worker, an input detection part configured to detect input to the touch panel display, an abnormality detection part configured to detect an abnormal state on the basis of the detection by the input detection part, and an abnormal signal transmission part configured to transmit, in the case where the abnormality detection part detects the abnormal state, a signal indicating the abnormal state to the robot.

Abstract: Methods, systems, and software are disclosed herein for secured system access by means of a bot proxy for a bot within a group communication service. In an example embodiment, a bot within a selected group of a group communication service may receive a message from a user of the selected group. The bot may transmit, to a bot proxy node within a secured local network, information related to the message that is relevant to executing a selected command. The bot proxy node, in turn, may transmit an application programming interface (API) instruction to perform the selected command to a target server within the secured local network. The bot may send a response message, via the group communication service, to at least one user from the selected group based on a result of the selected command.

Abstract: There is provided a parallel link device including a base, a plurality of arms each having at least four degrees of freedom and each including a first arm link, a second arm link, and a rotating joint, and a support which is coupled to an end of the second arm link of each of the plurality of the arms, and a position and a posture of which changes along with changes of posture of the plurality of the arms, where an axis of rotation (O7) of the rotating joint, which is coupled to the support and the second arm link, intersects or is adjacent to a rotational central point (Q) of the support.

Abstract: A robot simulator includes a storage device that stores model information related to the robot and an obstacle in the vicinity of the robot, and an acquisition device that obtains first input information defining a start position and an end position of operation of the robot. A processing device generates a path for moving the distal end portion of the robot from the start position to the end position while avoiding collisions between the robot and the obstacle based on the first input information and the model information. The processing device also generates image data including an illustration of the obstacle and an index indicating a via-point of the path.

Abstract: A method and an apparatus for controlling a robot are provided. According to one aspect of the present disclosure, the method can include receiving information on a work type of robot motion performed by the robot; generating workflow of the robot motion based upon the received information on the work type of the robot motion; measuring information on work environment in which the robot motion is performed in accordance with the work type and the workflow of the robot motion by controlling the robot; receiving work information on the robot motion in accordance with the work type and the workflow of the robot motion by controlling the robot; and performing the robot motion in accordance with the work type and the workflow of the robot motion by controlling the robot based upon the measured information on the work environment and the received work information on the robot motion.

Abstract: A robot control device that creates a control program for work of a robot with a force detector, the device includes a processor, wherein the processor is configured to: display an input screen including an operation flow creation area for creating an operation flow of work on a display device; convert the created operation flow into a control program; and execute the control program to control the robot, wherein the input screen is configured to display a plurality of operation objects indicating a plurality of operations including an operation using force control, and one or more conditional branch objects indicating a conditional branch, as options, and wherein the operation flow creation area is configured to create an operation flow including the conditional branch by graphically placing an operation object selected from the plurality of operation objects and the conditional branch object.

Abstract: Systems and methods for determining teleoperating user intent via eye tracking are provided. A method includes outputting, to a display of a gaze-tracking device utilized by a user, a representation of an environment of a robot. The method further includes receiving, from the gaze-tracking device, user gaze data corresponding to a gaze area subject to a gaze of the user within the representation. The method also includes determining a context based upon an object within the gaze area, an object type, and characteristics of the object. The method further includes receiving, via a user interface, a user input. The method also includes outputting, to the robot, a contextual command corresponding to the context and the user input.

Abstract: A method includes receiving input data indicative of tactile input at a bidirectional jog control device associated with a seven-degree-of-freedom (7DOF) robotic arm, where the 7DOF robotic arm is in a first arm configuration with an end effector of the 7DOF robotic arm positioned at a first pose in an environment. Based on the input data, the method further includes determining a direction to jog the 7DOF robotic arm through a null space while keeping the end effector fixed at the first pose in the environment. The method additionally includes controlling the 7DOF robotic arm to jog through the null space in the determined direction to a second arm configuration, where the end effector is positioned at the first pose in the environment when the 7DOF robotic arm is in the second arm configuration.

Abstract: One embodiment provides a method comprising maintaining a multi-dimensional data structure partitioned into cells utilizing a tree data structure (“tree”) comprising intervals for each dimension of a multi-dimensional space. To partition an interval for a node of the tree into multiple subintervals, multiple leaf nodes (“leaves”) are generated, each leaf descending from the node. To merge multiple intervals for multiple nodes of the tree, a parent node (“parent”) and multiple leaves descending from the parent are generated, the parent and the leaves are time constrained, and the leaves are scheduled for a merger. When transient data in cells included in a list that corresponds to a leaf scheduled for merger expires, each cell in the list is converted into a cell for inclusion in a different list corresponding to a parent of the leaf, each leaf of the parent removed, and the parent turned into a leaf.

Abstract: Systems and a method are provided for programming a cobot for a plurality of cells of an industrial environment. A physical cobot is provided within a lab cell comprising physical lab objects. A virtual simulation system receives information inputs on a virtual cobot representing the physical cobot, regarding a virtual lab cell comprising virtual lab objects, and on a plurality of virtual industrial cells comprising virtual industrial objects. Inputs are received from the physical cobot's movement during teaching whereby the physical cobot is moved in the lab cell to the desired position(s) while providing, via a user interface, a visualization of the virtual cobot's movement within a meta cell generated by superimposing the plurality of virtual industrial cells with the virtual lab cell, so that collisions with any object are minimized. A robotic program is generated based on the received inputs of the physical cobot's movement.

Abstract: A robot system which is capable of reducing an operator's workload and easily correcting preset operation of a robot. The robot system includes a robot main body having a plurality of joints, a control device configured to control operation of the robot main body and an operating device including a teaching device configured to teach the control device one of positional information on the robot main body and angular information on the plurality of joints so as to execute an automatic operation of the robot main body and a manipulator configured to receive a manipulating instruction from an operator to manually operate the robot main body or correct the operation of the robot main body under the automatic operation.

Abstract: A master-slave manipulator according to the present invention includes a remote operation device, serving as a master, that provides operation information corresponding to multiple degrees of freedom, a slave manipulator having a plurality of joints corresponding to multiple degrees of freedom and including a redundant joints among the joints, and a controller that controls the operation of the joints in accordance with the operation information, in which, when it is determined that a distal end of the slave manipulator operates, the controller determines, among the redundant joints, drive ratios ? of a joint disposed on a base end side and a joint disposed on a distal end side within a range of 0<?<1, respectively, and drives the joints.

Abstract: A computer-implemented method for determining contextual relevance in multi-auditory source scenarios is disclosed, the method including receiving, by a cognitive system, auditory communications regarding a current activity, analyzing, by the cognitive system, each auditory communication to determine an intended action. For each intended action, the cognitive system creates a simulation to identify a resulting outcome of each intended action. The method further includes ranking, by the cognitive system, the resulting outcome, the ranking based on a comparison of each simulated result and the corresponding intended action regarding the current activity, and physically implementing the highest rated resulting outcome(s) for the current activity. The analyzing, in one example, includes assigning a weight to each of the relevant auditory communications based on one or more criterion, and ranking the relevant auditory communications by weight.

Abstract: The present invention relates to an operating device for controlling or programming a manipulator. The manipulator has a plurality of degrees of freedom which are independent of each other. The operating device comprises a manual control lever which is configured to specify at least one two-dimensional movement of the manipulator. Preferably, the manual control lever is a joystick. The operating device also comprises an information display which is allocated to the manual control lever and comprises a plurality of independently controllable display segments. The operating device further comprises a control device which is configured to individually control the display segments of the information display.

Abstract: A robot device includes a receiver and a sender. The receiver receives a character in a virtual space. The sender sends authorization to operate the robot device to an apparatus in return for the received character.