A robot apparatus includes a robot arm, an end effector provided in the robot arm and configured to hold a workpiece, and a controller configured to perform a control process for controlling the end effector to release the workpiece on a basis of a first torque acting on the end effector in a predetermined direction in a state in which the end effector is holding the workpiece.

This control device for a robot controls a robot that includes a plurality of component members. The control device comprises sensors for detecting action states of the component members, and a processing unit that controls actions of the robot on the basis of the outputs of the sensors. The processing unit includes a specific member setting unit that sets one or more component members among the plurality of component members as a specific member. The processing unit includes a determining unit that determines an action state of the specific member on the basis of the outputs of the sensors, and an action changing unit that changes the action of the robot on the basis of the determination result of the determining unit.

In a method and system for operating a robot, at least one first direction, in which an external load acting on a reference is not reliably detectable on the basis of detected joint loads due to the vicinity to a singular position of the robot, is displayed as not being monitored on the basis of detected joint loads, and/or at least one second direction, in which an external load acting on the reference is reliably detectable on the basis of detected joint loads despite the vicinity to the singular position, is displayed as being monitorable on the basis of detected joint loads. Additionally or alternatively, at least one first direction is blocked if an external load acting on the reference in said direction is not reliably detectable on the basis of detected joint loads due to the vicinity to a singular position of the robot, and if at least one direction is blocked and multiple joints of the robot are simultaneously actuated, a monitoring process is carried out on the basis of detected joint loads for an external load acting on the reference in at least one second direction, in which an external load acting on the reference is reliably detectable on the basis of detected joint loads despite the vicinity to the singular position.

Provided is a medical robot arm apparatus including a plurality of joint units configured to connect a plurality of links and implement at least 6 or more degrees of freedom in driving of a multi-link structure configured with the plurality of links, and a drive control unit configured to control driving of the joint units based on states of the joint units. A front edge unit attached to a front edge of the multi-link structure is at least one medical apparatus.

There is provided a robot apparatus which is characterized by comprising: a robot comprising a plurality of motors for driving respective joints and a sensor for obtaining force acting on a hand tip; and a controlling unit for obtaining a torque instruction value for each of the plurality of motors such that a force deviation between the force acting on the hand tip and a force target value becomes small, controlling driving of each of the plurality of motors based on the torque instruction value, and performing a stopping process of decreasing the force target value when a stop order for stopping the robot is received.

Provided is a surgical imaging apparatus that includes a multi-link, multi-joint structure including a plurality of joints that interconnect a plurality of links to provide the multi-link, multi-joint structure with a plurality of degrees of freedom, at least one video camera being disposed on a distal end of the multi-link, multi-joint structure; at least one actuator that drives at least one of the plurality of joints; and circuitry that detects a joint force experienced at the at least one of the plurality of joints in response to an applied external force, and controls the at least one actuator based on the joint force so as to position the video camera.

A method of generating a control program, wherein the method includes: executing an application by the first robot manipulator, at the same time, determining trajectory data and/or wrench data, determining robot commands from a stored time series, the robot commands being principal elements of the control program for the robot manipulator without relation to design conditions of a first robot manipulator, and generating the control program for a second robot manipulator based on the stored robot commands and based on the design conditions of the second robot manipulator.

Provided is a medical robot arm apparatus including a plurality of joint units configured to connect a plurality of links and implement at least 6 or more degrees of freedom in driving of a multi-link structure configured with the plurality of links, and a drive control unit configured to control driving of the joint units based on states of the joint units. A front edge unit attached to a front edge of the multi-link structure is at least one medical apparatus.

A method of footstep contact detection includes receiving joint dynamics data for a swing phase of a swing leg of the robot, receiving odometry data indicative of a pose of the robot, determining whether an impact on the swing leg is indicative of a touchdown of the swing leg based on the joint dynamics data and an amount of completion of the swing phase, and determining when the impact on the swing leg is not indicative of the touchdown of the swing leg, a cause of the impact based on the joint dynamics data and the odometry data.

A robot system includes a robot and a controller that controls the robot. The robot includes a wheeled platform and a manipulator mounted on the wheeled platform. The manipulator includes a sensor that detects a force or a moment that acts on at least one joint. The controller controls at least one of the manipulator and the wheeled platform on the basis of the force or moment detected by the sensor so that a moment acting on the wheeled platform does not exceed a tip-over moment.