A two-wheel balancing vehicle includes a chassis including one or more mounting interfaces configured to detachably mount one or more fighting modules for robotic competition. The two-wheel balancing vehicle also includes two wheel assemblies respectively mounted at a left side and a right side of the chassis. Each of the two wheel assemblies includes a wheel and a driving motor drivingly connected with the wheel and mounted to the chassis. The two-wheel balancing vehicle also includes an inertial measurement unit. The two-wheel balancing vehicle further includes a control system communicatively connected with the inertial measurement unit and the driving motor, the control system configured to receive sensing signals provided by the inertial measurement unit and to control a balancing state of the two-wheel balancing vehicle. The inertial measurement unit and the control system are mounted to the chassis.

A robot unit includes a robot body which is an arm-type robot having a plurality of arms coupled via joints, and in which one or more connecting portions are provided on a surface of at least one of the arms, and one or more auxiliary parts which are attachable and detachable to and from the arms via the connecting portions and which control or support movement of at least one of the joints.

According to one aspect, a control system for providing stable balance control may include an H.sup. controller, a state-feedback circuit, a first feedback loop, and a second feedback loop. The control system may be implemented in a robot as a controller for the robot. The H.sup. controller may receive an input signal and generate a control effort signal. The state-feedback circuit may receive the control effort signal as an input and generate an output signal. The feedback loop may include the H.sup. controller and the state-feedback circuit and may transfer the output signal of the state-feedback circuit back to the input of the H.sup. controller and input a tracking error input signal to the H.sup. controller. The tracking error input signal may be the difference between the output signal of the state-feedback circuit and the input signal.

It is to be understood that the methods and apparatus which have been described above are merely illustrative applications of the principles of the invention. Numerous modifications may be made by those skilled in the art without departing from the true spirit and scope of the invention.

A maintenance jig for a balancer of a robot is provided. The balancer includes a casing closed at both ends by two end plates each having a through hole, a movable member disposed in the casing to be movable in an axial direction of the casing, a rod one end of which is fixed to the movable member, and another end of which is disposed outside the casing, a force generating member accommodated in the casing and generates a pulling force that pulls the rod into the casing. The maintenance jig includes a first member detachably fixed to the other end plate, and a second member includes a male screw portion to be fastened to a screw hole of the first member, and a rotational force input unit through which a rotational force is input.

A robot arm apparatus includes a base structure, a first arm, a first actuator, and an assisting device. The first arm is pivotable relative to the base structure about a first pivot axis. The first actuator is configured to pivotally actuate the first arm relative to the base structure. The assisting device is configured to apply an assist rotational force to the first arm to assist the first actuator.

A service robot includes a wheeled, robotic vehicle and a movable payload platform. A position of the payload platform is controlled to reduce the distance between the center of mass of the service robot and a center of rotation of the vehicle moving along a motion trajectory. Induced centrifugal forces are reduced, allowing for safe operation at higher speeds. In some examples, the payload platform is moved such that the center of mass of the service robot is approximately aligned with the center of rotation of the vehicle. In some embodiments, at least one wheel of the service robot is controlled to maintain a level orientation of the service robot as it traverses uneven terrain. In some embodiments, the service robot includes an inflatable torso structure that allows an upper body robot to bend in a controlled manner to interact with users and a payload loaded onto the payload platform.

New multi-computer architecture allows for the protection of personal computers to reinforce online security. The disclosed system encompasses intermediate lock-computer and unidirectional internal interfaces based on novel principles providing complete security while sending information to world wide web and reliable filtering of unwanted software while receiving information from the Internet and a secure way to send and receive data through public networks utilizing optical signals and LiFi connections. A key physical principle is the physical separation of dataflow from web-connected computer to intermediate lock-computer to the main personal computer and the counter data flow from main computer to lock-computer to web-connected computer. The usage of optical cables are more secure than electrical because the optical cables do not emit any Radio Frequency Energy (RF Energy) which are susceptible to hacking and the use of Light Fidelity (LiFi) which allows for wireless network capabilities without omitting any RF Energy.

An exoskeleton includes a first link that pivots in a transverse plane about a first vertical axis and a second link that pivots in a transverse plane about a second vertical axis. The second link is coupled to the first link. An arm support assembly is coupled to the second link and pivots about a horizontal axis. The arm support assembly includes a spring that generates an assistive torque that counteracts gravity. The arm support assembly provides the assistive torque to an arm of a wearer to support the arm of the wearer. The arm support assembly further includes a cam profile and a cam follower. Contact between the spring, cam follower and cam profile determines an amount of the assistive force provided by the arm support assembly. A cuff is coupled to the arm support assembly and the arm of the wearer.

New multi-computer architecture allows for the protection of personal computers to reinforce online security. The disclosed system encompasses intermediate lock-computer and unidirectional internal interfaces based on novel principles providing complete security while sending information to world wide web and reliable filtering of unwanted software while receiving information from the Internet and a secure way to send and receive data through public networks utilizing optical signals and LiFi connections. A key physical principle is the physical separation of dataflow from web-connected computer to intermediate lock-computer to the main personal computer and the counter data flow from main computer to lock-computer to web-connected computer. The usage of optical cables are more secure than electrical because the optical cables do not emit any Radio Frequency Energy (RF Energy) which are susceptible to hacking and the use of Light Fidelity (LiFi) which allows for wireless network capabilities without omitting any RF Energy.