A gait planning method for a robot includes: constructing a first phase variable of a gait planning of the robot, wherein the first phase variable is a function of two position components of a torso of the robot on a horizontal plane; constructing a second phase variable based on the first phase variable, wherein the second phase variable is a function of the first phase variable, and a slope of the second phase variable is smaller than a slope of the first phase variable when a foot of a swing leg of the robot starts to touch a support surface; and performing the gait planning on the foot of the swing leg using the second phase variable to obtain a planned trajectory of the foot of the swing leg.

A control method includes an acquiring step for acquiring information concerning a plurality of end effectors and acquiring an operation program, and a driving step for driving a robot arm based on the operation program acquired in the acquiring step, wherein in the driving step, speed of a speed estimation target part is calculated, for each of the plurality of end effectors based on a detection result of the detecting section, and when it is determined that, in a result of the calculation, speed of the speed estimation target part moving at highest speed when the robot arm is driven by the operation program is equal to or higher than predetermined speed, operating speed of the robot arm is reduced.

Inspection robots with a multi-function piston connecting a drive module to a central chassis and systems thereof are disclosed. An example inspection robot may include a center chassis coupled to a payload coupled to at least two inspection sensors. The inspection robot may further include a drive module coupled to the center chassis, the drive module having a drive wheel to engage an inspection surface and a drive piston mechanically interposed between the center chassis and the drive module. The example may further include wherein the drive piston in a first position couples the drive module to the center chassis at a minimum distance between and the drive piston in a second position couples the drive module to the center chassis at a maximum distance between. The example may further include wherein the drive module is independently rotatable relative to the center chassis.

A robotic surgical system for performing surgery, the system includes a robotic arm having a force and/or torque control sensor coupled to the end-effector and configured to hold a first surgical tool. The robotic system further includes an actuator that includes controlled movement of the robotic arm and/or positioning of the end-effector. The system further includes a tracking detector having optical markers for real time detection of (i) surgical tool position and/or end-effector position and (ii) patient position. The system also includes a feedback system for moving the end effector to a planned trajectory based on the threshold distance between the planned trajectory and the actual trajectory.

Disclosed are a robot arm control method, a skin surface treatment apparatus, and a computer-readable memory medium, which relate to the field of mechanical control. the robot arm control method includes steps of: demarcating a to-be-treated surface of an object treated by a robot arm into at least two areas of interest; obtaining, by a three-dimensional scanning device, a three-dimensional point cloud corresponding to each area of interest; optimizing respective three-dimensional point clouds; merging the respective three-dimensional point clouds to obtain an executive point cloud; creating a motion path for the robot arm based on the executive point cloud; and performing, by the robot arm, a treatment to the surface of the object based on the motion path. Compared with conventional technologies, the disclosure has a better cost-effectiveness, an enhanced treatment efficiency, and an improved apparatus safety.

A control device 1X mainly includes an operation sequence generation means 16X, a first robot control means 171X, a switching determination means 18X, and a second robot control means 172X. The operation sequence generation means 16X is configured to generate an operation sequence of a robot. The first robot control means 171X is configured to perform a first robot control that is a control of the robot based on the operation sequence. The switching determination means 18X is configured, during execution of the first robot control, to determine, based on the operation sequence, whether or not to switch to a second robot control, which is a control of the robot based on an external input. The second robot control means 172X is configured, if it is determined by the switching determination means 18X that the switching is required, to perform the second robot control.

The present disclosure provides robot apparatus and a control method thereof. The robotic apparatus includes an executing device and a driving device. The method includes: acquiring inertial sensing data from at least one inertial sensor disposed on one or both of the executing device and the driving device; performing data fusion on at least the inertial sensing data to obtain fused data of the robotic apparatus; and determining an operation status of the robotic apparatus based on the fused data, and controlling the robotic apparatus in response to the operation status. In the present disclosure, inertial sensing data is detected by inertial sensor and data fusion and analysis are performed.

Development and deployment of multi-platform automations for robotic process automation (RPA) are disclosed. Hardware level commands, driver level commands, and/or application programming interface (API) calls are automatically and seamlessly substituted within an automation and/or within an RPA workflow at design time. Development of an RPA automation may occur on a first operating system, and the automated reconfiguration and deployment of the RPA automation may occur in a second, distinct operating system. An automation including a first set of hardware level commands, driver level commands, and/or API calls native to a first operating system may be received, ingested, or retrieve and the automation may be automatically reconfigured to include a second set of hardware level commands, driver level commands, and/or API calls native to an operating system. Accordingly, seamless and consistent development of automations that are functionally similar or functionally identical across a range of operating systems may be provided.

Systems, methods, and apparatus for acoustic inspection of a surface are described. An example system may include an inspection robot structured to traverse an inspection surface in a direction of travel. The inspection robot may include a payload having a plurality of arms, connected to the inspection robot, to rotate around respective ones of a plurality of axes while the inspection robot traverses the inspection surface, where each of the plurality of axes is in the direction of travel. A plurality of sleds may be connected to the plurality of arms, and a plurality of inspection sensors connected to the plurality of sleds. The plurality of inspection sensors may be spaced apart from each other at adjustable positions to inspect the inspection surface at an adjustable resolution.

Systems, methods, and other embodiments are disclosed that are configured to segment customers using mixed attribute types. In one embodiment, a computerized data structure is read. The computerized data structure has numerical demographic attribute data, categorical demographic attribute data, and target attribute data that is associated with customers and is stored in a computerized memory. The numerical demographic attribute data and the categorical demographic attribute data are converted to a same numerical scale, based at least in part on the target attribute data, to form congruent attribute data in a format that is compatible with performing a cluster analysis on the congruent attribute data. The cluster analysis is performed on the congruent attribute data to generate segmented customer data representing a segmentation of the customers. The segmented customer data may be used to control at least one enterprise function performed by a computerized management system.