The present invention relates to a robot. A robot according to one embodiment of the present invention comprises a body having a set volume, and traveling members provided in the left area and right area of the body and rotatably connected to the body through rotating shafts, wherein the rotating shafts are positioned to be vertically inclined at the incline of the rotating shafts so that same gradually face outward from the top to the bottom thereof.

The present invention simplifies the processing of flanges that are to be integrated with a base part of a robot device and makes it possible to use a small number of adapter components to connect a plurality of corresponding decelerators to the processed flanges. A robot device that comprises a base part that houses decelerators that drive a first arm and a second arm that have a parallel link. The robot device comprises two first decelerators that are arranged on either side of the first arm so as to be parallel and drive the first arm, a second decelerator that is arranged so as to be parallel to the two first decelerators and drives the second arm, two first adaptor components that are respectively arranged between the base part and the two first decelerators and connect the base part and the first decelerators, and a second adapter component that is arranged between the base part and the second decelerator and connects the base part and the second decelerator.

Aspects of the disclosure include a torque sensor arrangement configured to attach between a first part and a second part to sense torque therebetween, the torque sensor arrangement comprising an interface member having on its exterior an engagement configuration configured to rotationally engage the first part, a torsion member comprising a deflectable body attached at one end thereof to the interface member and comprising, at the other end of the deflectable body, an engagement configuration configured to fixedly engage the second part, and a deflection sensor attached to the deflectable body, wherein the interface member defines a rigid sleeve extending around the deflectable body and the torque sensor arrangement further comprises a bushing located between and in contact with both the sleeve and the deflectable body.

Apparatus and methods are described for performing a procedure using a robotic unit. A sterile drape is placed around a drape plate, such that the sterile drape forms an interface between a non-sterile zone and a sterile zone, such that the tool mount is disposed within the sterile zone, and one or more robotic arms and a tool motor are disposed within the non-sterile zone. The tool is driven to roll with respect to the end effector via at least one gear mechanism disposed within the sterile zone, and a motion-transmission portion configured to transmit motion from the tool motor to the at least one gear mechanism, while maintaining a seal between the sterile zone and the non-sterile zone. Other applications are also described.

A robot system has first and second joint control units that respectively calculate first and second current values to be supplied to first and second motors based on deviations between first and second operation targets for the motors that are input from a higher device and actual operation of output shafts of the motor, and control operation of the output shafts by supplying current to the motors based on the current values, and an error estimation unit estimating an error in operation of a second joint due to bending and/or twisting of a robot arm based on the first current value and the actual operation of the output shaft of the first motor, in which the second joint control unit calculates the second current value to control the rotation angle of the output shaft of the second motor in a manner compensating for an angle error of the second joint.

Disclosed are various embodiments of a three-dimensional perception and object manipulation robot gripper configured for connection to and operation in conjunction with a robot arm. In some embodiments, the gripper comprises a palm, a plurality of motors or actuators operably connected to the palm, a mechanical manipulation system operably connected to the palm, a plurality of fingers operably connected to the motors or actuators and configured to manipulate one or more objects located within a workspace or target volume that can be accessed by the fingers. A depth camera system is also operably connected to the palm. One or more computing devices are operably connected to the depth camera and are configured and programmed to process images provided by the depth camera system to determine the location and orientation of the one or more objects within a workspace, and in accordance therewith, provide as outputs therefrom control signals or instructions configured to be employed by the motors or actuators to control movement and operation of the plurality of fingers so as to permit the fingers to manipulate the one or more objects located within the workspace or target volume. The gripper can also be configured to vary controllably at least one of a force, a torque, a stiffness, and a compliance applied by one or more of the plurality of fingers to the one or more objects.

A robot uni includes: a first link forming a center of rotation of the robot unit; a second link configured to perform a revolution motion or a rotation motion based on the center of rotation when rotated about the first link; first members, each of which is provided between the first link and the second link; drivers, each of which is provided in a direction that faces the first link and is configured to provide driving forces to the first members; wires configured to transmit the driving forces of the drivers to the first members; and second members, each of which is provided on the first link and the second link, is wound by the wires, and is configured to perform a revolution motion or a rotation motion along with the first link and the second link in a case where each of the first members is driven.

Systems and methods for collision detection and avoidance are provided. In one aspect, a robotic medical system including a first set of links, a second set of links, a console configured to receive input commanding motion of the first set of links and the second set of links, a processor, and at least one computer-readable memory in communication with the processor. The processor is configured to access the model of the first set of links and the second set of links, control movement of the first set of links and the second set of links based on the input received by the console, determine a distance between the first set of links and the second set of links based on the model, and prevent a collision between the first set of links and the second set of links based on the determined distance.

A vehicle for uneven terrain includes a main frame; a front wheel assembly disposed in front of the main frame with a front wheel; a rear wheel assembly disposed behind the main frame with a rear wheel; a wheelbase adjuster configured to adjust a wheelbase between the front wheel and the rear wheel; a first side wheel assembly disposed on one side of the main frame with a first side wheel; a second side wheel assembly disposed on another side of the main frame with a second side wheel; a front wheel torque transmitter configured to interlock vertical movements of the front wheel and the first side wheel; a rear wheel torque transmitter configured to interlock vertical movements of the rear wheel and the second side wheel; and a stabilizer configured to support the first side wheel assembly and the second side wheel assembly.

The present invention relates to a sensor module for detecting unevenness of a surface, especially for detecting bulging and bowing of the pipe external surface. The sensor module comprises an arm assembly comprising an arm body having at least two ends, one or more surface contacting element mounted to at least one end of the arm body; a magnet assembly comprising at least one magnet to generate magnetic lines of force; and a magnetic sensor assembly comprising a magnetic sensor being assembled adjacent to the magnet for sensing changes in the magnetic lines of force in response to movement of the arm body. The invention also relates to an apparatus comprising the said sensor module and a method for detecting unevenness of a surface using the said sensor module.