Whether or not workpieces are present in a workpiece storage area is determined based on an image acquired by image capturing. When the workpieces are determined to be present, whether or not a crossing part is present in the workpiece storage area is determined based on the image, the crossing part being a part where soft body portions of a plurality of workpieces cross each other in an overlapping manner. When the crossing part is determined to be present, an uppermost soft body portion placed at an uppermost position among the soft body portions crossing each other is determined based on the image. A workpiece including the uppermost soft body portion thus determined is determined as an uppermost workpiece placed at an uppermost position.

In one embodiment, the present disclosure includes an automated food production kiosk. Embodiments of a kiosk may comprise a robotic system having a reach. A plurality of food ingredient dispensers may be configured around the robotic system. Each dispenser may have a physical interface within a reach of the robotic system to receive an item. One or more physical processing units have a physical interface within the reach of the robotic system to receive the item. The kiosk may prepare food items under control of a local server, a cloud server, or both, for example.

A controller for a parallel link mechanism includes a drive control unit that controls driving of a parallel link mechanism and a command section that gives a command for controlling an actuator to the drive control unit. The command section includes a natural frequency prediction unit that calculates a predicted value string of a natural frequency changing depending on the position of an end effector for each interpolation position of the end effector by using a dynamic model that simulates a mechanical system from a base to a link joint of the parallel link mechanism with a translational spring and simulates a mechanical system from the link joint to the end effector with one rigid body. The drive control unit includes a filter that changes a frequency component to be suppressed for each interpolation positions according to a predicted value string at each interpolation position of the end effector.

In one embodiment, the present disclosure includes an automated delivery system apparatus comprising a mechanical guide, a movable unit coupled to the guide on a first surface, and an engaging unit configured to couple to a second surface separated from the first surface by a thickness. The engaging unit is configured to engage an item on the second surface. A magnetic binding force between the movable unit and engaging unit moves the engaging unit along a path corresponding to a path of the movable unit. The engaging unit moves an item along a least a portion of the path.

In one embodiment, the present disclosure includes a granule dispenser comprising a container for holding granulated components, a cap coupled to a bottom of said container, and a stopper. The stopper may be spring loaded against the ridge of said cap. An interface between the stopper and the cap comprises a plurality of protrusions and a plurality of sawtooth forms, wherein the protrusions mate to a base portion between the sawtooth forms in a first position to form a seal between the cap and the stopper, and wherein, when the stopper is rotated, the protrusions engage a sloped portion of the sawtooth forms to create a plurality of openings between the cap and the stopper.

A method includes controlling a robot body performed by a controller. The robot body includes a finger, a driving unit, and a detection unit. The driving unit is configured to move the finger. The detection unit is configured to output a signal corresponding to a state of the finger moved by the driving unit. The method includes causing the finger to hold a workpiece, causing the robot body to start a predetermined operation while causing the finger to keep holding the workpiece, if a detected value based on the signal outputted from the detection unit is within a first range, and causing the robot body to continue to perform the predetermined operation until completion of the predetermined operation, if the detected value is within a second range in the predetermined operation. The second range is different from the first range.

Example implementations may relate to a robotic system configured to provide feedback. In particular, the robotic system may determine a model of an environment in which the robotic system is operating. Based on this model, the robotic system may then determine one or more of a state or intended operation of the robotic system. Then, based one or more of the state or the intended operation, the robotic system may select one of one or more of the following to represent one or more of the state or the intended operation: visual feedback, auditory feedback, and one or more movements. Based on the selection, the robotic system may then engage in one or more of the visual feedback, the auditory feedback, and the one or more movements.

A control device includes at least two processors comprising at least a first processor and a second processor. The control device controls at least one autonomous motion mechanism on the basis of a recognition result received from a recognition device. A storage device of the control device stores upper-level software, middle-level software, and lower-level software. The upper-level software derives a feature amount representing a feature of the recognition result. The middle-level software generates a motion plan of the autonomous motion mechanism on the basis of the feature amount. The lower-level software outputs a command value for controlling the autonomous motion mechanism on the basis of the motion plan. The first processor executes at least the upper-level software, the second processor executes at least the lower-level software, and at least one processor included in the control device executes the middle-level software.

A robot includes a movable part, and the movable part performs an action based on a position of a first marker obtained using first position and attitude of the movable part when a first image containing the first marker is captured by an imaging unit provided in the movable part and second position and attitude of the movable part when a second image containing the first marker is captured by the imaging unit.

Example implementations may relate to a robotic system configured to provide feedback. In particular, the robotic system may determine a model of an environment in which the robotic system is operating. Based on this model, the robotic system may then determine one or more of a state or intended operation of the robotic system. Then, based one or more of the state or the intended operation, the robotic system may select one of one or more of the following to represent one or more of the state or the intended operation: visual feedback, auditory feedback, and one or more movements. Based on the selection, the robotic system may then engage in one or more of the visual feedback, the auditory feedback, and the one or more movements.