A locator of a surgical port of a surgical robot system, the surgical robot system comprising an instrument attached to a robot arm, the instrument having an instrument shaft able to pass through the surgical port to a surgical site, the locator comprising: an interface configured to couple to the surgical port; a mechanism configured to permit relative linear and/or rotational motion of the interface and the instrument shaft; and a controller comprising a processor operable to estimate the position of a part of the robot arm, the controller configured to control the mechanism in dependence on the estimated position of the part of the robot arm such that as the robot arm retracts the instrument from the patient, the locator moves the port away from the robot arm and provides a reaction force to keep the port in place.

A robotic surgical assembly includes a slave manipulator connected to a surgical instrument. A jointed subassembly includes at least a first, second and third links. The first and second links are associated in a first joint providing a degree of freedom between the first link and the second link. The second and third links are associated in a second joint providing a degree of freedom between the second link and the third link. The surgical instrument includes a tendon for moving a degree of freedom; the tendon including a tendon distal portion secured to the third link. The first link and/or the second link includes a tendon contact surface on which the tendon slides remaining in contact with the tendon contact surface, defining one or more sliding paths on the tendon contact surface. The sum of all sliding paths defines a total winding angle of at least 120°.

A substrate transport apparatus including; a frame, a substrate transport arm connected to the frame, the substrate transport arm having an end effector, and a drive section having at least one motor coupled to the substrate transport arm, wherein the at least one motor defines a kinematic portion of the drive section configured to effect kinematic motion of the substrate transport arm, and the drive section includes an accessory portion adjacent the kinematic portion, wherein the accessory portion has another motor, different and distinct from the at least one motor, the another motor of the accessory portion is operably coupled to and configured to drive one or more accessory device independent of the kinematic motion of the substrate transport arm.

The present disclosure relates to robot technology, which provides a gait control method, device, and terminal device for a biped robot. The method includes: planning an initial position of an ankle joint of the biped robot and a rotation angle of a sole of the biped robot to rotate around one of a toe and a heel of the biped robot; planning a body pose of the biped robot; calculating a target position of the ankle joint based on the initial position of the ankle joint and the rotation angle of the sole; obtaining a joint angle of each of a plurality of joints of the biped robot by performing an operation on the body pose and the target position of the ankle joint utilizing an inverse kinematics algorithm; and adjusting a gait of the biped robot based on the joint angle of each of the joints.

A method of processing objects using a programmable motion device is disclosed. The method includes the steps of perceiving identifying indicia representative of an identity of a plurality of objects and directing the plurality of objects toward an input area from at least one input conveyance system, acquiring an object from the plurality of objects at the input area using an end effector of the programmable motion device, and moving the acquired object toward an identified processing location using the programmable motion device. The identified processing location is associated with the identifying indicia and the identified processing location is provided as one of a plurality of processing locations along a first direction. The step of moving the acquired object includes moving the programmable motion device along a second direction that is substantially parallel with the first direction.

A device for automating the process of installing eyelash extensions onto the natural eyelashes of a subject. In some embodiments, the placing of extensions is carried out by a robotic mechanism utilizing computer vision.

The present disclosure provides a gimbal, a gimbal control device and method implemented in the gimbal and gimbal control device. The method includes obtaining a first angular velocity of a directional device mounted on a gimbal in a first direction; obtaining at least one reference angular velocity in at least one reference direction of the gimbal; obtaining an angular velocity offset in the first direction based on the first angular velocity and the at least one reference velocity; and adjusting an angle of the gimbal in the first direction based on the angular velocity offset. In this way, the posture drift of the gimbal in the yaw direction due to a detection error of the directional device may be eliminated, so that the picture taken by a photographing device provided on gimbal is stable, and the shooting quality is improved.

A method of adjusting multiple tools on a common mount includes the interrogating first and second actual target positions on at least one workpiece. A variance is determined between the first and second actual target position and first and second theoretical target positions. At least one of the first and second tools is moved relative to the other of the first and second tools from the first and second theoretical target positions to a desired spacing respectively aligned with the first and second actual target positions.

At a first communication device in a wireless communication network, reference signaling is received from a second communication device in two or more beams with a same direction, and one or more values associated with a direction at which the first communication device received the reference signaling from the second communication device are determined. The one or more values are determined based on the received reference signaling. The direction has a higher accuracy than a beam width associated with the received reference signaling. The direction may be or include an angle of arrival or an angle of departure, for example, and in the case of an angle of departure signaling indicative of the one or more values is transmitted by the first communication device, to the second communication device or another component such as network equipment.

A robot system (2a . . . 2d) is specified, which comprises a robot (1a, 1b) having a gripping unit (4) for collecting goods (23a . . . 23n) and a sensor system (8a . . . 8e) for detecting a loading space (27a . . . 27d) of a loading aid (9a . . . 9e) and the goods (23a . . . 23n) stored therein. After the collection of a good (23a . . . 23n), a check is conducted with the aid of a controller (11) on whether a good (23a . . . 23n) protrudes beyond the loading space (27a . . . 27d). If necessary, the good (23a . . . 23n) protruding beyond the loading space (27a . . . 27d) is collected and placed down at a different position, or the part of the good (23a . . . 23n) protruding beyond the loading space (27a . . . 27d) is moved into the loading space (27a . . . 27d). Moreover, a method for operating the robot system (2a . . . 2d) is specified.