A linear motion actuation system and method of using the same may be utilized for installing or removing a server blade within a server rack, via a linear motion assembly fastened to a server blade and configured for linear motion with the server blade; a bracket fastened to a server rack; and at least one linear motion actuator comprising: a first component secured with the linear motion assembly; and a second component movably secured with the first component and secured with the bracket. The second component is configured for at least substantially linear movement relative to first component, and the at least one linear motion actuator is configured to, upon receipt of a signal from a controller, move the second component in an at least substantially linear direction relative to the first component to move the server blade relative to the server rack.

In one embodiment, a robotic limb includes a scissor linkage. In one embodiment, the scissor linkage includes a rotatable connection, two proximal links, and two motors configured to selectively rotate the two proximal links. Relative rotation between the two proximal links selectively controls extension, retraction, and rotation of the scissor linkage. Additional embodiments are related to scissor linkages including links designed to be have specific length relationships to avoid a singularity occurring during operation. In some embodiments, links may include torque transmissions to avoid singularities and/or to transmit torques to a distal portion of a scissor linkage for use in actuating other components including another scissor linkage arranged in series with first.

Routines and methods disclosed herein can increase a power efficiency of a prosthetic hand without drastically reducing the speed at which it operates. A prosthesis can implement an acceleration profile, which can reduce an energy consumption of a motor, or an amount of electrical and/or mechanical noise produced by a motor, as the motor as the motor transitions from an idle state to a non-idle state. A prosthesis can implement a deceleration profile, which can reduce the energy consumption of the motor, or an amount of electrical and/or mechanical noise produced by a motor, as the motor transitions from a non-idle state to an idle state.

A method of controlling a moving robot is provided. The method of controlling a moving robot includes the steps of: (a) performing a basic motion of the moving robot which moves on a rotating mop; (b) measuring the slip rate of the moving robot; and (c) controlling the travel of the moving robot.

In one form there is disclosed an internally balanced involute-type speed reducer; the reducer comprising a stator stage, an input stage, an output stage, and a plurality of gear sets in mesh. In a further form there is disclosed an actuator assembly for a robot; said actuator assembly comprising a stator core located within an outer housing and subtended by inner and outer mounting hubs; said hub supporting a drive train and bearings within the actuator assembly. In a further form there is disclosed a transducer system operable in conjunction with the reducer or actuator assembly.

A rotary axis module includes an actuator that includes a first member and a second member, the actuator relatively driving the second member so as to rotate about a predetermined axis with respect to the first member, a DC power source, and a switch. The actuator includes a brake that is releasable by supplying a DC voltage. A first brake circuit that is connected to a control device that controls the actuator, and a second brake circuit that is provided in parallel with the first brake circuit and connected to the DC power source via the switch, are connected to the brake.

A mobile robot apparatus is provided. The mobile robot apparatus includes: a body; a first wheel disposed at a first side surface of the body; a second wheel disposed at a second side surface of the body opposite to the first side surface; a first drive device configured to provide a driving force to each of the first wheel and the second wheel; a second drive device configured to move the body in a vertical direction relative to at least one of a first center axis of the first wheel and a second center axis of the second wheel; and a processor configured to control the second drive device to move the body to contact a surface on which the mobile robot apparatus is disposed, or move the body away from the surface on which the mobile robot apparatus is disposed.

A first drive unit includes a motor having a rotation shaft in which a through hole is provided, a drive section rotating the rotation shaft, and a first case covering at least a part of the drive section. Further, the unit includes a reducer having an input portion engaging with one end portion of the rotation shaft, an attachment portion attached to the motor, and an output portion reducing and outputting rotation of the rotation shaft. Furthermore, the unit includes a first connector fixed to a third case of the motor and coupled to first wiring coupled to outside and a second connector fixed to the attachment portion of the reducer and coupled to second wiring coupled to the outside. In addition, the first drive unit includes internal wiring passing through the through hole and coupled to the first connector and the second connector.

A method of controlling a drive including one respective inverter associated with each of a plurality of servomotors in a robot. The method includes providing a PWM frequency corresponding to a frequency of switching instances for respective semiconductor switches in each of the inverters, whereby for each inverter time is divided into consecutive control cycles forming a sequence of control cycles of the inverter, each control cycle containing two, and only two, of the switching instances for each of the semiconductor switches. The method also includes spreading the respective control cycle sequences of the inverters over time such that the control cycles of each inverter are time shifted in respect to the control cycles of each of the other inverters in the power converter.

A method of controlling a drive including one respective inverter associated with each of a plurality of servomotors in a robot. The method includes providing a PWM frequency corresponding to a frequency of switching instances for respective semiconductor switches in each of the inverters, whereby for each inverter time is divided into consecutive control cycles forming a sequence of control cycles of the inverter, each control cycle containing two, and only two, of the switching instances for each of the semiconductor switches. The method also includes spreading the respective control cycle sequences of the inverters over time such that the control cycles of each inverter are time shifted in respect to the control cycles of each of the other inverters in the power converter.