A control device, for controlling a robot that performs a task, according to one or more embodiments may be configured to cause the robot to perform the task. When a distance between the robot and a person is less than a predetermined value, the control device may be configured to change a movement path of the robot and to adjust the predetermined value in accordance with a workpiece held by the robot.

A remote controlled device comprises one or more memories and one or more processors. The one or more processors are configured to, when an event relating to a task being executed by a remote control object occurs: transmit information on a subtask of the task, receive a command relating to the subtask, and execute the task based on the command.

A robot controlling method includes following operations. A depth image is obtained by the depth camera. A processing circuit receives the depth image and obtains an obstacle parameter of an obstacle and a tool parameter of a tool according to the depth image. The tool is set on the end of a robot. The processing circuit obtains a distance vector between the end and the obstacle parameter. The processing circuit obtains a first endpoint vector and a second endpoint vector between the tool parameter and the obstacle parameter. The processing circuit establishes a virtual torque according to the distance vector, the first endpoint vector, and the second endpoint vector. The processing circuit outputs control signal to the robot according to the tool parameter, the obstacle parameter and the virtual torque to drive the robot to move or rotate the tool to a target.

An obstacle avoidance control device includes an avoidance command value calculation unit that obtains an avoidance command value that is a control command value for control target equipment, the control command value which satisfies constraint conditions including a condition sufficient for the control target equipment not to come into contact with an obstacle, and the control command value that an evaluation value obtained by applying the control command value to an evaluation function satisfies a prescribed end condition, and an equipment control unit that controls the control target equipment on the basis of a processing result of the avoidance command value calculation unit.

Various systems and methods for detecting risk conditions in a physical workspace. An apparatus can include an interface to receive smart sensor signals from at least one autonomous mobile entity (AME) in the physical workspace. The apparatus can also include processing circuitry coupled to the interface to detect a risk condition associated with the at least one AME, based on the smart sensor signals, relative to a user device associated with a human present in the physical workspace. The processing circuitry can also detect a direction of the risk condition relative to the user device and cause a notification to the first user device. The notification can indicate the direction of the risk condition relative to the user device. Other systems, methods and apparatuses are described.

A device for indicating appropriate social distancing includes the ability to project light (in various forms and in a various ways) onto the ground in a manner visible by the user and those around them. A boundary of the projected light can be set to an acceptable social distance and can include different colors to indicated varying social distances for varying levels of trusted individuals. Proximity sensors set to appropriate distancing requirements, along with the varying levels of trust can be implemented into multiple devices being used in a group setting.

A device for indicating appropriate social distancing includes the ability to project light (in various forms and in a various ways) onto the ground in a manner visible by the user and those around them. A boundary of the projected light can be set to an acceptable social distance and can include different colors to indicated varying social distances for varying levels of trusted individuals. Proximity sensors set to appropriate distancing requirements, along with the varying levels of trust can be implemented into multiple devices being used in a group setting.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for planning a path of motion for a robot. In some implementations, a candidate path of movement is determined for each of multiple robots. A swept region, for each of the multiple robots, is determined that the robot would traverse through along its candidate path. At least some of the swept regions for the multiple robots is aggregated to determine amounts of overlap among the swept regions at different locations. Force vectors directed outward from the swept regions are assigned, wherein the force vectors have different magnitudes assigned according to the respective amounts of overlap of the swept regions at the different locations. A path for a particular robot to travel is determined based on the swept regions and the assigned magnitudes of the forces.

A method for controlling the motion of one or more collaborative robots is described, the collaborative robots being mounted on a fixed or movable base, equipped with one or more terminal members, and with a motion controller, the method including the following iterative steps: —determining the position coordinates of the robots, and the position coordinates of one or more human operators collaborating with the robot; —determining a set of productivity indices associated with relative directions of motion of the terminal member of the robot, the productivity indices being indicative of the speed at which the robot can move in each of the directions without having to slow down or stop because of the presence of the operator; —supplying the controller of the robot with the data of the set of productivity indices associated with the relative directions of motion of the terminal member of the robot, so that the controller can determine the directions of motion of the terminal member of the robot based on the higher values of the productivity index.

A robotic system comprises two robots and a control unit. Each robot has a base and an arm extending from the base to an attachment for an instrument. Each arm comprises a plurality of joints whereby the configuration of the arm can be altered. Each robot comprises a driver for each joint configured to drive the joint to move, and position and torque sensors. The control unit controls the drivers in dependence on inputs from the sensors. The control unit: determines the gravitational torques on the joints of the arms of the robots in the arm configurations indicated from the inputs from the position sensors; from the inputs from the torque sensors and the determined gravitational torques, determines residual torques on the joints of the arms of the robots in the indicated arm configurations; calculate a candidate force for each arm which when applied to that arm would cause the determined residual torques; and determines a collision if a candidate force on the arm of the first robot balances an opposing candidate force on the arm of the second robot.