An example implementation involves receiving measurements from an inertial sensor coupled to the robot and detecting an occurrence of a foot of the legged robot making contact with a surface. The implementation also involves reducing a gain value of an amplifier from a nominal value to a reduced value upon detecting the occurrence. The amplifier receives the measurements from the inertial sensor and provides a modulated output based on the gain value. The implementation further involves increasing the gain value from the reduced value to the nominal value over a predetermined duration of time after detecting the occurrence. The gain value is increased according to a profile indicative of a manner in which to increase the gain value of the predetermined duration of time. The implementation also involves controlling at least one actuator of the legged robot based on the modulated output during the predetermined duration of time.

A motor control apparatus including a controller that controls a servo motor or a spindle motor and includes a switching determining part that determines a switching condition of the controller based on axis position information on a motor related to control of the motor control apparatus, a machine learning part that adjusts one or more parameters for the controller by machine learning for each switching condition, and a parameter holding part that holds the parameter adjusted by the machine learning part for each switching condition. The switching determining part, when determining the switching condition after adjustment of the parameter, uses the adjusted parameter corresponding to the switching condition in the controller. The apparatus enables changing, and automatic adjustment, of a parameter or controller to be used depending on a switching condition of the parameter related to axis position information or a switching condition of the controller using the parameter.

An example implementation involves receiving measurements from an inertial sensor coupled to the robot and detecting an occurrence of a foot of the legged robot making contact with a surface. The implementation also involves reducing a gain value of an amplifier from a nominal value to a reduced value upon detecting the occurrence. The amplifier receives the measurements from the inertial sensor and provides a modulated output based on the gain value. The implementation further involves increasing the gain value from the reduced value to the nominal value over a predetermined duration of time after detecting the occurrence. The gain value is increased according to a profile indicative of a manner in which to increase the gain value of the predetermined duration of time. The implementation also involves controlling at least one actuator of the legged robot based on the modulated output during the predetermined duration of time.

A servo motor controller includes: a servo motor; a driven member which is driven by the servo motor and in which a load acting on a drive axis is varied depending on the position of the driven member; a position detection portion and a speed detection portion for the driven member; and a motor control portion, where the motor control portion includes: a position control portion which calculates a speed command based on a positional error between a position command for the driven member and the position FB; a speed control portion which calculates a torque command by multiplying a speed error between the speed command and the speed FB by a speed gain and/or adding a torque offset to the speed error; and a change portion which changes at least one of the speed gain and the torque offset according to the position of the driven member.

A contact-and-separation system includes a first roller, a second roller, and a contact-and-separation device. The first roller contacts a belt. The second roller is opposed to the first roller. The contact-and-separation device contacts or separates the belt to or from the second roller via a sheet conveyed. The contact-and-separation device includes an eccentric cam, a motor, and a circuitry. The eccentric cam is mounted on an end of a rotation shaft of the first roller. The motor rotates the eccentric cam. The circuitry controls the motor to rotate the eccentric cam to contact or separate the belt to or from the second roller via the sheet conveyed. The circuitry controls the motor to decelerate a rotation speed of the motor on contact or separation of the belt to or from the second roller between the first roller and the second roller.

A control device includes a processor that is configured to execute computer-executable instructions so as to control a robot, wherein the processor is configured to calculate an operation parameter related to an operation of a robot by using machine learning, and control the robot on the basis of the calculated operation parameter.

In order to stabilize control of a driving section, a robot control apparatus includes a control section that acquires a driving position of the driving section that drives a robot and an operation force that is a force operating on the robot, and performs first control of the driving section based on the driving position and second control of the driving section based on the operation force; and a changing section that changes a size of servo stiffness of the robot that is realized by the control of the control section.

A robot includes a robot arm and an inertial sensor provided in the robot arm. The robot arm is controlled using a weighting value for weighting output from the inertial sensor. In at least apart of a range in which the robot arm is movable, the weighting value is a first value when acceleration of the robot arm is first acceleration, and changes from the first value to a second value higher than the first value when the acceleration of the robot arm changes from the first acceleration to second acceleration lower than the first acceleration.

A contact-and-separation system includes a first roller, a second roller, and a contact-and-separation device. The first roller contacts a belt. The second roller is opposed to the first roller. The contact-and-separation device contacts or separates the belt to or from the second roller via a sheet conveyed. The contact-and-separation device includes an eccentric cam, a motor, and a circuitry. The eccentric cam is mounted on an end of a rotation shaft of the first roller. The motor rotates the eccentric cam. The circuitry controls the motor to rotate the eccentric cam to contact or separate the belt to or from the second roller via the sheet conveyed. The circuitry controls the motor to decelerate a rotation speed of the motor on contact or separation of the belt to or from the second roller between the first roller and the second roller.

A method includes a measurement step of producing measured force information of external force by causing a robot to perform an action using second servo gains adjusting force control parameters corresponding to first servo gains when the robot performs a regular task. The measured force information includes an action period of time during which the action is performed, a maximum detected force value of the external force, and a maximum detected torque value of the external force. The method further includes a parameter update step of producing a new candidate value of the force control parameters by carrying out an optimization process on the force control parameters by using the measured force information. The method further includes a parameter determination step of determining the force control parameters used in the force control performed by the robot by repeating the measurement step and the parameter update step.