A robot system with a robot configured for locomotion about a space using ground reaction force (GRF) to provide a first level of balancing. The robot system includes force generators located on or in the robot's body or offboard in the space that act to generate balancing forces to provide a second level of balancing for the robot using non-conventional physics. Clamping of a robot's feet to a support surface is provided whenever the feet are in contact with the support surface using electromagnets in the feet and a layer of ferrous material on the support surface or using mechanical coupling techniques to temporarily anchor the foot to the support surface. A balance controller processes output of balance sensors and responds by generating control signals to operate force generators onboard the robot such as electric fans or inertial reaction wheels.

A powered ankle-foot prosthesis, capable of providing human-like power at terminal stance that increase amputees metabolic walking economy compared to a conventional passive-elastic prosthesis. The powered prosthesis comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is controlled to deliver the high mechanical power and net positive work observed in normal human walking.

A humanoid robot and its balance control method and computer readable storage medium are provided. Expected accelerations of each of a sole and centroid of a humanoid robot corresponding to a current expected balance trajectory and an expected angular acceleration of the waist corresponding to the current expected balance trajectory are obtained based on current motion data of the sole, the centroid, and the waist, respectively first, then an expected angular acceleration of each joint meeting control requirements of the sole, the centroid, and the waist while the robot corresponds to the current expected balance trajectory is calculated based on an angular velocity of the joint, the expected accelerations of the waist, the sole, and the centroid, respectively, and then each joint of the robot is controlled to move at the obtained expected angular acceleration of the joint based on the angular displacement of the joint.

The present disclosure provides a system for performing interactions within a physical environment, the system including: (a) a robot base; (b) a robot base actuator that moves the robot base relative to the environment; (c) a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon; (d) a tracking system that measures at least one of: (i) a robot base position indicative of a position of the robot base relative to the environment; and, (ii) a robot base movement indicative of a movement of the robot base relative to the environment; (e) an active damping system that actively damps movement of the robot base relative to the environment; and, (f) a control system that: (i) determines a movement correction in accordance with signals from the tracking system; and, (ii) controls the active damping system at least partially in accordance with the movement correction.

A balancer abnormality detection system includes: a robot; a motor configured to operate the robot; a balancer provided in the robot and configured to generate assist torque which assists power of the motor with force generated by elastic bodies; and a controller configured to detect abnormality of the balancer by measuring a current value of the motor operated to keep a posture of the robot during standby of the robot and comparing the current value with a current command value of the motor necessary for keeping the posture of the robot.

A transfer robot includes a support unit, a rotary base supported by the support unit, a rotation mechanism that rotates the rotary base, a hand unit supported by the rotary base and configured to support a work, and a linear movement mechanism that moves the hand unit in a horizontal direction relative to the rotary base. The rotation mechanism includes a first rotation mechanism that rotates the rotary base relative to the support unit about a first rotation axis extending in a vertical direction, and a second rotation mechanism that rotates the rotary base about a second rotation axis inclined by a predetermined angle with respect to the first rotation axis. The support unit includes a pivotal member that pivots about a pivotal axis perpendicular to the first rotation axis.

A mobile robot is provided to follow a trajectory and adopt a behavior which can be defined by movements of articulated limbs of the robot. The mobile robot is equipped with a processor which is configured, based on instructions defining a motion of the mobile robot and instructions defining a behavior of the mobile robot, to calculate a target trajectory of a center of mass of the mobile robot; calculate, based on the target trajectory of the center of mass of the mobile robot and dynamic constraints of the mobile robot, a predicted trajectory of the center of mass of the mobile robot over a time horizon, and calculate, based on the predicted trajectory of the center of mass of the mobile robot and the instructions defining a behavior of the mobile robot, predicted movements of articulated limbs.

The present disclosure discloses a two-wheeled self-balancing robot which solves the technical problems in the prior art that the robot can only travel on a flat ground and its driving environments are limited by making improvements in its mechanical structure. The two-wheeled self-balancing robot comprises a vehicle body with wheels mounted on both sides thereof. The vehicle body comprises a parallelogram frame which can deform tiltedly. The vehicle body is provided with a stage, and the stage is hinged with the parallelogram frame. The parallelogram frame is provided with a first motor. The first motor drives the parallelogram frame to deform tiltedly according to road conditions so as to always keep the stage horizontal. The two-wheeled self-balancing robot according to the present disclosure can adapt to complicated road conditions, and its stage always keeps horizontal such that the object carried is not prone to fall off.

An apparatus for coupling a robot arm to a tool that is suspended by an ergonomic arm capable of supporting 3D motion of the tool within a working volume. The apparatus includes a tool sleeve configured to accept the tool, a freely rotating rotary fitting coupled to the tool sleeve, and a coupling that couples a distal end of the robot arm to the rotary fitting. When the tool is inserted into the tool sleeve, the tool is free to rotate around the rotational axis with respect to the robot arm, such that a motion of the distal end of the robot arm does not impose a torque between the robot arm and the tool around the rotational axis, and such that motion of the distal end of the robot arm repositions or reorients the tool within at least a portion of the working volume.

The invention relates to a composite motion robot based on springtail movement mechanism, which includes a body, a jumping mechanism, a balance wheel and a control module. The body includes a right pallet, a U-shaped frame, a curved slide, a casing, a fixing plate, a left pallet and a pin block; the control module is installed on the body. Based on springtail jumping motion mechanism and by setting the jumping mechanism and the balance wheel, the invention enables the robot to have capability of movement, such as jumping over obstacles, balance wheeled translation, flipping posture reset, and self-balance resetting which is otherwise difficult to be achieved by traditional balancing carts, etc.