Abstract: The invention relates to a programmable robot system comprising a robot provided with a number of individual arm sections, where adjacent sections are interconnected by a joint, the system furthermore comprising controllable drive means provided in at least some of said joints and a control system for controlling said drive means. The robot system is furthermore provided with user interface means comprising means for programming the robot system, said user interface means being either provided externally to the robot, as an integral part of the robot or as a combination hereof and storage means co-operating with said user interface means and said control system for storing information related to the movement and further operations of the robot and optionally for storing information relating to the surroundings.

Abstract: A system, method, and device may include software and hardware which simplify and quicken configuration of the system for testing a device, enhance testing procedures which may be performed, and provide data via which to easily discern a cause and nature of an error which may result during testing. A camera may capture still images of a display screen of a tested device and another camera may capture video images of the tested device and a partner device. A wizard may be used to generate a configuration file based on one previously generated for a similar device. A mount for a tested device may be structured so that: it is suitable for mounting thereon a plurality of differently structured devices; and adjustments in a vertical direction and a horizontal direction in a plane and adjustments of an angle of the device relative to the plane may be easily made.

Abstract: Ground contact portions 10 are classified into a tree structure such that each of the ground contact portions 10 of a mobile body 1 (mobile robot) equipped with three or more ground contact portions 10 becomes a leaf node and that an intermediate node exists between the leaf node and a root node having all the leaf nodes as its descendant nodes. On each node (a C-th node) having child nodes, the correction amounts of the desired relative heights of the ground contact portions 10 of the C-th node are determined such that the relative relationship among the actual node floor reaction forces of the child nodes of the C-th node approximates the relative relationship among the desired node floor reaction forces of the child nodes of the C-th node, and joints of the mobile body 1 are operated so that a desired relative height obtained by combining the correction amounts is satisfied.

Abstract: A manipulator includes: a drive section which electrically drives a joint; an instruction input section which executes instruction input; a control section which generates a driving signal in response to the instruction input; a sensor which detects an operation status of the joint or the drive section in time series; a setting section which sets an allowable operation range of the drive section; a determination section which determines whether an operation status signal including a detection signal is within the allowable operation range; and a replacement section which, in a case when the operation status signal is determined as deviating from the allowable operation range, replaces the detection signal with a previous detection signal acquired just before the determination of deviance in order to generate a driving signal.

Abstract: Ground contact portions are categorized in a tree structure manner such that all of the ground contact portions of a mobile body (mobile robot) equipped with three or more ground contact portions become leaf nodes and that an intermediate node exists between the leaf nodes and a root node having all the leaf nodes as its descendant nodes. On each node (a C-th node) having child nodes, the correction amounts of the desired relative heights of the ground contact portions of the C-th node are determined such that at least the difference between an actual posture inclination and a desired posture inclination of a predetermined portion, such as a base body, (posture inclination difference) is approximated to zero, and joints of the mobile body 1 are operated so that a desired relative height obtained by combining the correction amounts is satisfied.

Abstract: Distance meters measure distances from a reference position to a first area including an upper pitch circle portion and a second area including a lower pitch circle portion. Center coordinates of the hub is calculated based on respective center coordinates of two hub bolts included within the first and second areas. Coordinates of three points defining apexes of a triangle are acquired. Inclination angle of the hub relative to a vertical plane is calculated based on the coordinates of the three points, and an orientation of each of the hub bolts is calculated based on the center coordinates of the hub and the center coordinates of the hub bolt.

Abstract: A door opener arrangement for a robot coating device, used for detecting a position of a part (6) of a door (7) so that the door can be opened and/or closed for interior painting. The door opener is arranged with at least one non-contact sensor member (1), preferably for detecting changes in a field strength of a magnetic or electromagnetic field in a Z and vertical direction, and may be arranged with a plurality of sensors to detect a collision etc. A method, system and computer program are also described.

Abstract: The present disclosure relates to an arrangement and an electronic navigational control system for a self-propelling device (5), preferably a lawn-mowing robot. The system comprises at lease one navigational control system (3) connected to at least one signal generator (1) and a sensing unit arranged at the self-propelling device (5). The sensing unit senses at least one, in the air medium propagating, time and space varying magnetic field, at least transmitted via the navigational control station (3) and in turn retransmits at least one signal processed by the unit to at least one driving source which contributes to the device's movements across the surface. The system comprises structure by which the signal generator (1) sends a current through the navigational control station (3), the current generating the time and space varying magnetic field, whereby the sensing unit comprises structure by which the device (5) is maneuvered based on the properties of the sensed magnetic field.

Abstract: An apparatus and method of handling substrates is disclosed. A detecting system, capable of determining whether a substrate is tilted in relation to the platen, is positioned proximate to the substrate. In some embodiments, the detecting system is a distance measuring system. In other embodiments, it is an angle sensor. The detecting system is in communication with a controller, which, in turn, is in communication with a substrate handling robot. If, based on information received from the detecting system, the controller determines that the substrate is tilted beyond an acceptable range, it is assumed that the substrate has remained attached to the platen. In such a case, the substrate handling robot does not attempt to remove it from the platen. In this way, the substrate is not damaged.

Abstract: Kinematic singular points in a process system are handled. In one embodiment, a numerically controlled (NC) processing system includes materials processing installation having a multi-axis kinematic linkage operable to position a tip portion of the linkage along a predetermined process path. The system also includes a processor having a compensation system operable to detect a singular point in the process path and to improve the accuracy tip portion positioning near the singular point.

Abstract: A method for controlling a plurality of manipulators, such as multiaxial or multiaxle industrial robots. At least one manipulator functions as the reference manipulator and is moved in a plurality of preset poses within its working area at which internal position values are determined as first desired poses. For each desired pose, subsequently a first actual pose of the reference manipulator is determined by an external measuring system. Subsequently at least one further manipulator moves up to specific poses of the reference manipulator as second desired poses and for each of these poses an actual pose of the further manipulator is determined by an external measuring system. On the basis of actual-desired deviations between the thus determined desired and actual poses of the two manipulators, subsequently a parameter model for the further manipulator is established and with it it is possible to compensate simultaneously both its own errors and those of the reference manipulator.

Abstract: An industrial robot may include a main body part and an arm part including a first arm, a second arm and a hand arm. The main body part is provided with a first turnable shaft for performing an expansion-contraction operation of the arm part, a second turnable shaft which is disposed within the first turnable shaft for changing an expansion-contraction direction of the hand arm together with the first arm, a first sensor mechanism including a first sensor for detecting a home position of the second turnable shaft, a second sensor mechanism provided in the second turnable shaft and which includes a second sensor for detecting a relative home position between the second turnable shaft and the first turnable shaft, and a rotary joint which is connected with the second turnable shaft and is electrically connected with the second sensor.

Abstract: A robot arm formed from one or more optionally interlinked active pivoted levers, wherein a base is fixed to the one end of a support and a pivoting piece is pivotably mounted on the second end of the support with pneumatic muscles running form the base to the pivoting piece. Individual pneumatic muscles engage on opposing sides of the pivot axis of the pivoting piece and the base of a pivoting lever is fixed to the pivoting piece of the adjacent pivoting lever interconnected thereto. The controller measures the position of the individual pivoting levers and the pressure in the individual pneumatic muscles, calculates the externally acting forces from the pressure-distance diagrams for the individual pneumatic muscles and the geometric lever mechanical ratios for all pivoting levers and limits said forces.

Abstract: In a robot arm controlling device, a mechanical impedance set value of the arm is set by an object property-concordant impedance setting device based on information of an object property database in which information associated with properties of an object being gripped by the arm is recorded, and a mechanical impedance value of the arm is controlled to the set mechanical impedance set value by an impedance controlling device.

Abstract: A control device (1) for a robot arm (8) which, if a human approach detection unit (3) detects approach of a person, performs control according to the impact between the robot arm (8) and the person, through an impact countermeasure motion control unit (4), by setting individual mechanical impedances for the respective joint portions of the robot arm (8) on the basis of the movement of the person detected by a human movement detection unit (2).

Abstract: An x-y robotic motion control system includes a controller, a first rail and a second rail spaced from the first rail wherein the first and second rails are substantially parallel to one another. A gantry has a first end movable along the first rail and a second end movable along the second rail. A payload is movable along the gantry and a position sensor is movable along the gantry with the payload. A first encoder is configured to detect the first end of the gantry with respect to the first rail, and a second encoder is configured to detect the second end of the gantry with respect to the second rail. The position sensor and the first and second encoders are coupled to the controller, which calculates a position of the payload as a function of signals from the position sensor and the first and second encoders.

Abstract: A structure is provided with a first member at a base end side, a third member at a leading end side, a second member arranged between the first and third members, and a coupling force generator for generating a first coupling force for pressing an end surface of the first member and that of the second member against each other and a second coupling force for pressing an end surface of the second member and that of the third member against each other. In this structure, the first and third members are relatively displaced upon the application of an external force larger than a coupling force generated between the end surface of the first member and that of the second member by the first coupling force, whereas the second and third members are relatively displaced upon the application of an external force larger than a coupling force generated between the end surface of the second member and that of the first member by the second coupling force.

Abstract: A target position detection apparatus for a robot includes: a robot including an arm configured to be freely moved in at least two directions of X and Y axes, the arm having a wrist axis provided at a distal end of the arm and configured to be freely moved in a horizontal direction, and the wrist axis being provided with an end effector; and a control unit adapted for driving a memory to store a teaching point therein and controlling an operation of the robot such that the end effector will be moved toward the teaching point stored in the memory.

Abstract: A robot is characterized by an external measurement device. The robot generates a first point cloud of data. The external measurement device generates a second point cloud of data. These two points clouds are analyzed to determine an accuracy of the robot.

Abstract: A desired gait is generated so as to satisfy a dynamical equilibrium condition concerning the resultant force of gravity and an inertial force applied to a legged mobile robot 1 using a dynamics model which describes a relationship among at least a horizontal translation movement of a body 24 of the robot 1, a posture varying movement in which the posture of a predetermined part, such as the body 24, of the robot 1 is varied while keeping the center of gravity of the robot 1 substantially unchanged and floor reaction forces generated due to the movements and is defined on the assumption that a total floor reaction force generated due to a combined movement of the movements is represented as a linear coupling of the floor reaction forces associated with the movements. The dynamics model represents movements as a movement of a body material particle or the like and a rotational movement of a flywheel.

Abstract: A robot arm is provided with an end effecter for grasping an object and a force sensor for detecting a force acted upon the end effecter. In the state in which end effecter grasps an object, when there is a change in the force acting on the end effecter detected by the force sensor, outputted is a signal for releasing the force of the end effecter grasping the object. The object grasped by the end effecter can be taken out as if the object were handed from person over to person.

Abstract: A drilling machine drills at a multiplicity of target locations on a component. Two robots, calibrated with calibration data, move the component in a 6-D coordinate system. A metrology system ascertains the position of the component relative to the drilling machine. The movement of the robots is effected by means of commands generated by means of off-line programming. The component is moved relative to the drilling machine to a target position, ready for drilling, by means of a closed-loop process in which the differences in position between the expected position (the target position) and the actual position (as viewed by the metrology system) are corrected.

Abstract: A robot control apparatus for soft control operation of a robot has position and velocity control loops for each control axis of the robot. The position control gain and the velocity control gain of a specified control axis in soft control operation is set lower than those of the other control axes. The orientation of the forward end of the robot arm to be assumed while following an external force, i.e., the orientation thereof immediately before starting the follow-up operation is determined. The position command or the velocity command for the control axes other than the specified control axis, which are determined based on the present position of the specified control axis moved by the external force applied to the forward end of the robot arm, the direction to follow the external force and the orientation immediately before starting the follow-up operation, is applied to the control loop of the particular control axis.

Abstract: A control apparatus (10) for a machining robot (1) adapted to machine a workpiece (20) by coming into contact with an effector (19) of a tool (18) attached to the machining robot with the workpiece comprises: detecting means (15) for detecting a force or moment acting between the effector of the tool and the workpiece; converting means (22) for converting the force or moment detected by the detecting means into a force or moment acting on the joint axis of the machining robot; deflection calculating means (25) for calculating a deflection occurring at the joint axis of the machining robot on the basis of the force or moment acting on the joint axis of the machining robot and obtained from the converting means; and correcting means (28) for correcting at least one of a position command or a speed command for the joint axis of the machining robot in such a manner as to compensate for the deflection calculated by the deflection calculating means.

Abstract: A method for aligning the position of a movable arm includes: providing an alignment element on the apparatus projecting a distance above the apparatus in the z-direction and having a surface lying in a plane formed by an x and y axis; providing a movable arm having a tool at the free end; positioning the object such that the surface of the element faces the tool; moving the tool in a direction towards the surface of the element; sensing when the tool reaches a predetermined point on or above the surface of the element, whereby the position of the tool in the z-direction is determined based on the relationship between the measured response of the tool and the height of the tool above the surface of the alignment element; placing the tool on or at a distance in the z-direction from the surface; moving the tool in the x-direction while sensing the surface of the element; moving the tool in the x-direction until an edge of the element is sensed; determining the center in the x-direction based on the known distan

Abstract: A legged mobile robot can calculate the movement amount between a portion of the robot apparatus that had been in contact with a floor up to now and a next portion of the robot apparatus in contact with the floor using kinematics and to switch transformation to a coordinate system serving as an observation reference as a result of the switching between the floor contact portions.

Abstract: A method for aligning the position of a movable arm includes: providing an alignment element on the apparatus projecting a distance above the apparatus in the z-direction and having a surface lying in a plane formed by an x and y axis; providing a movable arm having a tool at the free end; positioning the object such that the surface of the element faces the tool; moving the tool in a direction towards the surface of the element; sensing when the tool reaches a predetermined point on or above the surface of the element, whereby the position of the tool in the z-direction is determined based on the relationship between the measured response of the tool and the height of the tool above the surface of the alignment element; placing the tool on or at a distance in the z-direction from the surface; moving the tool in the x-direction while sensing the surface of the element; moving the tool in the x-direction until an edge of the element is sensed; determining the center in the x-direction based on the known distan

Abstract: A method for controlling a robot during an interpolation of a trajectory or motion to any prescribed position, comprises the steps of a) ignoring at least one of the three originally prescribed or interpolated tool center point orientation values; b) finding new tool center point orientation values that place the wrist center point of the robot closest to its base while c) maintaining the originally prescribed or interpolated tool center point location values and d) maintaining the original prescribed or interpolated tool center point orientation values not ignored. Said method can preferably be used for carrying a load with a plurality of robots. Its main advantage is an increase of the available working volume.

Abstract: A gait generating system of a legged mobile robot is provided with a device for determining a desired trajectory of an external force to be applied to a robot 1, a device for determining a parameter of a desired gait (current time gait) for a predetermined period on the basis of a desired trajectory of an external force or the like, a device for determining a parameter of a virtual cyclic gait that follows the current time gait on the basis of the desired trajectory of the external force or the like, a device for correcting the current time gait parameter such that a body motion trajectory of the robot 1 of the current time gait converges to a body motion trajectory of the cyclic gait, and a device for sequentially determining an instantaneous value of the current time gait on the basis of the corrected current time gait parameter.

Abstract: Realized is a robot controller capable of handling a large amount of data of images and so on necessary for advanced intelligence of control while securing a real-time performance with a simple structure. For this purpose, there are provided a motion control device for performing a calculation process for achieving motion control of an object to be controlled, a recognition and planning device for performing task and motion planning of the object to be controlled and recognition of outside world, an input/output interface for outputting a command to the object to be controlled and receiving as input, a state of the object to be controlled, and a route selecting device for controlling communications by switching connections among the motion control device the recognition and planning device, and the input/output interface.

Abstract: A robot control unit (10) having a designated speed adjusting means for adjusting a designated speed, which is contained in a robot command program, to a value not more than the designated speed, comprises: a decoding means (38) for decoding a movement stopping command of stopping a movement of the robot (1) according to a force detection value detected by a force sensor (2) attached to a wrist of the robot (1); a movement command means (36) for generating a movement command of moving the robot by the designated speed in the designated direction contained in the program without activating the designated speed adjusting means; a force calculation means (31) for calculating a change in a force detection value from a reference value as a present force value; and a comparison means (32) for comparing a present force value, which is repeatedly calculated at a predetermined period by the force calculation means, with a predetermined force designated value while the robot is moving.

Abstract: A predictive robot includes a prediction-related item storage to store terms related to prediction performance, a first communicator which transmits stored prediction-related terms and receives a search result of information search with regard to the prediction-related terms, a search controller to control information search of the prediction-related terms stored in the prediction-related item storage via the first communicator, a media converter to convert the search result into a notification medium, and a notification section to provide the search result by the notification medium. Preferably, predictive information is provided spontaneously.

Abstract: A motion equation with a boundary condition regarding a future center-of-gravity horizontal trajectory of a robot is solved so that the moment around a horizontal axis at a point within a support polygon is zero when the robot is in contact with a floor or so that horizontal translational force is zero when the robot is not in contact with the floor and so that connection is made to a current horizontal position and speed of the center of gravity. In addition, a motion equation with a boundary condition regarding a future center-of-gravity vertical trajectory of the robot is solved so that vertical translational force acting upon the robot other than gravity is zero when the robot is not in contact with the floor and so that connection is made to a current vertical position and speed of the center of gravity.

Abstract: A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The controller controls and limits movement of robotic arms relative to the patient.

Abstract: A legged mobile robot gives up a normal walking motion and starts a tumbling motion when an excessively high external force or external moment is applied thereto and a behavior plan of a foot part thereof is disabled. At this time, the variation amount ?S/?t of the area S of a support polygon of the body per time t is minimized and the support polygon when the body drops onto a floor is maximized to distribute an impact which acts upon the body from the floor when the body drops onto the floor to the whole body to suppress the damage to the body to the minimum. Further, the legged mobile robot autonomously restores a standing up posture from an on-floor posture thereof such as a supine posture or a prone posture.

Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.

Abstract: A permissible range of a restriction object amount, which is a vertical component of a floor reaction force moment or a component of the floor reaction force moment in floor surface normal line direction, or a vertical component of an angular momentum changing rate of the robot or a component of the angular momentum changing rate in floor surface normal line direction, is set, and at least a provisional instantaneous value of a desired motion is input to a dynamic model so as to determine an instantaneous value of a model restriction object amount as an output of the dynamic model. An instantaneous value of a desired motion is determined by correcting the provisional instantaneous value of the desired motion such that at least the instantaneous value of the model restriction object amount falls within the permissible range.

Abstract: The characteristics of actuators themselves and the characteristics of controllers for the actuators are dynamically or statically controlled to achieve stable and highly efficient movements. In a stage in which a leg in the flight state is uplifted such that the reactive force from the floor received by the foot sole of the leg is zero, the characteristics of the respective actuators for the knee joint pitch axis and the ankle pitch and roll axes of the leg in the flight state are set for decreasing the low range gain, increasing the quantity of phase lead and for decreasing the viscous resistance of the actuators, in order to impart mechanical passiveness and fast response characteristics. The followup control for the high frequency range may be achieved as the force of impact at the instant of touchdown is buffered.

Abstract: A computer in a transport system includes: a shooting part for shooting a first calibration tray by controlling a camera; a tray position computing part for computing a tray position of the first calibration tray within a captured image which the shooting part shot; a hand position acquisition part for acquiring a hand position indicative of a position of the hand robot of when the hand robot installs onto the first calibration tray a first transported article used for calibration; a calibration part for computing a calibration data based on the tray position and the hand position; and a transported article installing part which, when the mobile robot reached a predetermined arrival area, controls, based on the calibration data, the hand robot so as to install a second transported article onto a second tray, the second tray which the mobile robot being provided with.

Abstract: A system of self-organizing mobile robotic agents (MRAs) in a multi-robotic system (MRS) is disclosed. MRAs cooperate, learn and interact with the environment. The system uses various AI technologies including genetic algorithms, genetic programming and evolving artificial neural networks to develop emergent dynamic behaviors. The collective behaviors of autonomous intelligent robotic agents are applied to numerous applications. The system uses hybrid control architectures. The system also develops dynamic coalitions of groups of autonomous MRAs for formation and reformation in order to perform complex tasks.

Abstract: There are provided device for determining a desired trajectory of a translation floor reaction force's vertical component of a legged mobile robot 1, a vertical component of the total center-of-gravity acceleration or a body acceleration vertical component of the robot 1, device for determining a desired vertical position of the total center-of-gravity of the robot 1 or a body 24 thereof so as to satisfy the desired trajectory, and means for determining a desired vertical position of the total center-of-gravity of the robot 1 or the body 24 thereof based on a geometrical condition concerning a joint of a leg 2. Depending on the gait mode, such as walking or running, one of the desired vertical positions is selected, or the desired vertical positions are combined by taking the weighted average thereof or the like, thereby determining a final desired vertical position.

Abstract: Based on a detected or estimated value of an actual posture of a predetermined part, such as a body 3, of a robot 1 and a deviation the actual posture from a posture of a desired gait, a posture rotational deviation's variation is determined as the temporal variation of the deviation, and the position of the robot 1 (for example, the position where the robot comes into contact with a floor) is estimated on the assumption that the robot 1 rotates about a rotation center by the rotational deviation's variation. In addition, in accordance with the difference between the estimated position and the estimated position of the robot 1 determined by an inertial navigation method using an accelerometer or the like, the estimated position of the robot 1 determined by the inertial navigation method is corrected, thereby improving the precision of the estimated position.

Abstract: An operation control unit of a reception system includes a visitor ID information DB for storing therein visitor comparison information and visitor ID information including a phone number of a receiver of a visitor; an identifying unit for identifying the visitor when visitor information obtained by a camera or the like of the robot is identical to the visitor comparison information; a phone calling module for calling the phone number of a mobile terminal of the receiver via a phone network, when the visitor is identified; an informing content determining unit for determining an informing content to the receiver based on the visitor ID information, when the visitor is identified; and a speech generating part for converting the received information into a voice. The informing content is sent to the mobile terminal of the receiver via the phone network.

Abstract: A bipedal robot of the present invention has a trunk consisting of an upper trunk and a lower trunk which are rotatable around a rotation axis relative to one another. The upper trunk has shoulders on the right and left sides. An arm is provided at each shoulder. A pair of right and left legs is attached to lower ends of the lower trunk. A storage battery is mounted to the back of the upper trunk, positioned within a shoulder width. The storage battery is positioned below the top of a head mounted on the upper trunk. When the robot walks a narrow passage or corridor having a width slightly larger than the width thereof, for example, this arrangement prevents the storage battery from interfering with the passage or the like.

Abstract: An external force estimation system for estimating an external force acting upon a robot apparatus which includes a machine body which in turn includes a plurality of movable joints is disclosed which includes a distribution type contacting state detection section, an actuator current state measurement section, a motion state measurement section, a motion equation setting section, a known term calculation section, and an external force estimation section.

Abstract: Controlling an orienting/positioning system having a sensor and actuator for controlling at least one of an orienting and positioning action of the sensor. The invention (1) evaluates pre-action output information of a sensor in order to detect the position of a pattern in the input space of the sensor, (2) determines a targeted post-action position of the pattern in the input space of the sensor, (3) defines an actuator command by mapping any deviation of the pre-action and post action position in the input space to actuator control coordinates using a predefined mapping function, (4) controls the actuators according to the defined command to execute the orienting/positioning action, (5) detects the real post-action position of the pattern in an input space of the sensor, (6) adapts the mapping function based on differences between the real post-action position and the targeted post-action position of the pattern in the input space.

Abstract: A fully integrated system and method that provides for a system that generates fundamental differences between a host system and sensory data. The system processing covers a series of contrasting sensory data ranges that are comprised of sensory streams, sight, sound, temperature, etc. The ranges establish a point of reference within a host system for contrast with external sensory data. A static range of the system is contrasted with the active range producing an impact variation (a measurable difference) between the ranges. The processing effected by the system utilizes the monitored impact variations resulting from the contrasting sensory ranges, in conjunction with multiple sensory stream integration to resolve the problem of retaining sensory data objectivity when sensory data is internalized by a system.

Abstract: An offline teaching apparatus including a data acquiring section for acquiring position and orientation data and processing-condition data including interpolation commands, at respective predefined taught points, from an existing first processing program for a first workpiece; a processing-path calculating section for determining a processing path in the first program, based on the position and orientation data and the interpolation commands; a model generating section for generating, by using data of a second workpiece model of a second workpiece having geometrical features different from the first workpiece, a processing line showing a range of processing on the second workpiece; a taught-point calculating section for determining a geometrical correlation between the processing path and the processing line, and determining positions and orientations at respective taught points in the processing line; and a program generating section for generating a processing program for the second workpiece, by using the

Abstract: When braking of a motion of a part of a first robot is assumed to be started at points in time, a first stop position of the first robot part is estimated at each point in time. When braking of a motion of a part of a second robot is assumed to be started at the points in time, an estimated second stop position of the second robot part is obtained at each point in time. When it is determined that the first stop position of the first robot part at one of the points in time and either the actual position or the second stop position of the second robot part for each interval at the one of the points in time are contained in the shared workspace, the first robot part is braked.

Abstract: A landing position/orientation of a foot (22) to be landed in a landing action of a robot (1) such as a biped mobile robot or the like is estimated, and a desired footstep path for the robot (1) is set up. Based on the estimated landing position/orientation and the desired footstep path, a future desired landing position/orientation is determined in order to cause actual footsteps of the robot (1) (a sequence of landing positions/orientations of the foot (22)) to approach desired footsteps. Using at least the determined desired landing position/orientation, a desired gait for the robot (1) is determined, and the robot (1) is controlled in operation depending on the desired gait. For determining the desired landing position/orientation, mechanism-dependent limitations of the robot (1) such as an interference between the legs thereof, etc., and limiting conditions of an allowable range in which a desired ZMP can exist are taken into consideration.