A robotic apparatus including a plurality of rigid body sections that move relative to each other by one or more multi-degree of freedom joints. The robotic apparatus can traverse a fixed frame by attaching its distal ends to the frame and moving the rigid body sections relative to each other.

A component assembly system comprises a first robot arm having a first end-of-arm tool mounted thereon and adapted to grasp a first subcomponent; a second robot arm having a second end of arm tool mounted thereon and adapted to grasp a second subcomponent. A system controller is adapted to control the first and second robot arms and first and second end-of-arm tools to position the first and second subcomponents relative to one another. A first interlocking mechanism is mounted onto the first end-of-arm tool and a second interlocking mechanism is mounted onto the second end-of-arm tool, wherein the first and second interlocking mechanisms engage one another and lock the first end-of-arm tool to the second end-of arm tool, thereby locking the first and second subcomponents into an initial position relative to one another.

A robotic mount is configured to move an entertainment element such as a video display, a video projector, a video projector screen or a camera. The robotic mount is moveable in multiple degrees of freedom, whereby the associated entertainment element is moveable in three-dimensional space. In one embodiment, a system of entertainment elements are made to move and operate in synchronicity with each other, such as to move a single camera via multiple robotic mounts to one or more positions or along one or more paths.

In a mobile interaction robot, a plurality of self-propelled robots is connected to each other by a long object.

Surgical systems and methods for generating a tool path. A manipulator is configured to support and move a surgical instrument. Controller(s) obtain data that defines a volume of tissue to be removed from a surgical site. The controller(s) operate the manipulator to move the surgical instrument to remove first portions of the volume and acquire data defining the first portions removed from the volume. The controller(s) identify, based on the volume and the acquired data, additional portions of the volume of tissue that require removal. The controller(s) generate a tool path that passes through the additional portions and operate the manipulator to move the surgical instrument along the tool path to remove the additional portions.

A surgical manipulator is disclosed which includes a surgical instrument, an arm comprising a plurality of links and being configured to support and move the surgical instrument, and at least one controller. The at least one controller is configured to model the surgical instrument as a virtual rigid body. Forces and torques are applied externally to the surgical instrument. The at least one controller determines a commanded pose of the surgical instrument based on evaluation of the forces and torques and controls movement of the arm to place the surgical instrument according to the commanded pose.

Systems and methods for mechanical coupling and calibration of two fixed-base robotic arms are disclosed. In particular, a first robotic arm is affixed to a first base at a proximal end and has a first coupling at a distal end and a second robotic arm is affixed to a second base at a proximal end and has a second coupling at a distal end. The first coupling is releasably coupled to a second coupling via a locking mechanism to prevent relative motion between the first and second couplings. Three-dimensional positional data is collected for the distal ends of the first robotic arm and the second robotic arm in one or more positions. A calibration value is determined from the three-dimensional positional data. The calibration value may be a calibration matrix determined by a least mean squares method.

A foldable boom for conveying an item, said foldable boom being foldable about at least one folding axis, said foldable boom being locatable in a folded stowed position, and moveable to unfolded extended positions; said foldable boom having a near end arranged for pivotal movement about a first horizontal axis located on a turret, said turret being rotatable about a vertical axis; said foldable boom having first conveying apparatus to convey an item therealong, internally within said foldable boom, to a remote end of the foldable boom; wherein said foldable boom is foldable about a folding axis, and a pivoting shuttle equipped with a clamp to releasably hold an item is provided at said folding axis to transfer said item between said first conveying apparatus in boom elements connected about said folding axis.

A transfer robot includes one arm, another arm, a motor, and a brake. The another arm is connected to the one arm via a shaft such that the another arm is rotatable relatively with respect to the one arm around a shaft axis of the shaft. The motor includes a rotor rotatable around the shaft axis to rotate the another arm around the shaft axis, and a stator connected to the one arm. The brake is provided at the another arm to apply a force to the stator so as to suppress relative rotation between the stator and the rotor when electric power is not supplied to the motor.

A transfer robot includes one arm, another arm, and a motor. The one arm has a first connection portion. The other arm has a second connection portion that is connected to the first connection portion of the one arm via a shaft such that the other arm is rotatable relatively with respect to the one arm around a shaft axis of the shaft. The motor is provided inside the first connection portion of the one arm. The motor includes a rotor rotatable around the shaft axis to rotate the one arm or the other arm around the shaft axis.