In an embodiment, a method during execution of a motion plan by a robotic arm includes determining a voice command from speech of a user said during the execution of the motion plan, determining a modification of the motion plan based on the voice command from the speech of the user, and executing the modification of the motion plan by the robotic arm.

A modular movable robot including a main body, a traveling unit mounted on a lower end of the main body, a module coupling plate which is mounted on an upper end of the main body and on which an object to be transferred is disposed on a top surface thereof, a port module coupled to the top surface of the module coupling plate to fix the object to be transferred, the port module being configured to provide module information to the module coupling plate, a body display unit extending from one end of the module coupling plate, a head display unit rotatably mounted on an upper end of the body display unit, and a control unit configured to receive the module information from the module coupling plate to control at least one of the body display unit or the head display unit on the basis of the received information.

Actuation systems and methods for actuating a telescopic structure are provided. The actuation system can include a chain cartridge including a drive chain engageably coupled to a drive mechanism actuated by an actuator coupled to a power supply. The drive chain can include a plurality of inter-connected links conveying at least one cable within an interior space of each inter-connected link. The system can also include a telescopic structure including a plurality of segments configured to extend and retract telescopically and conveying the drive chain therein. The drive chain can couple to a distal segment of the plurality of segments. The drive mechanism can impart a linear translation force on the plurality of inter-connected links to cause the distal segment to extend or retract from the telescopic structure. Methods of actuating the actuation system described herein are also provided.

The present disclosure provides a humanoid robot and its control method and computer readable storage medium. The method includes: obtaining a current torque of a sole of the humanoid robot, an inclination angle of the sole, an inclination angle of a first joint of the humanoid robot, and an inclination angle of a second joint of the humanoid robot; calculating current feedforward angular velocities of motors of the first and second joints through the obtained information; calculating feedback angular velocities of the motors of the first and second joints; and obtaining inclination angles of the joints based on the feedforward angular velocities of the motors and the feedback angular velocities of the motors, and performing, through the motor of the second joint, a deviation control on the joints according to the inclination angles of the joints.

Systems and methods relating to an end-of-arm-tool that can be used in connection with the automated handling of vehicles, such as unmanned aerial vehicles (UAV), are disclosed. The described systems and methods can include an end-of-arm-tool which may include a load cell coupled to an end effector, such that forces and torques exerted on the end effector are translated onto the load cell. The measurement of forces and torques exerted on the end effector can facilitate determining various information in connection with the aerial vehicle, such as inertial properties or parameters associated with the aerial vehicle, the quality of the engagement between the end effector and the aerial vehicle, as well as diagnostic information in connection with the aerial vehicle. Additionally, the use of a load cell to measure forces and torques exerted on the end effector can eliminate the need to utilize traditional contact sensors typically required on the contact surfaces of an end-of-arm tool.

A control device for a robot includes: an external force acquisition section configured to acquire external force applied to a movable element during operation of the robot; a first condition determination section configured to determine whether or not a first condition that the external force exceeding a predetermined first threshold is applied to the movable element is satisfied; a second condition determination section configured to determine whether or not a second condition that the movable element is moving is satisfied; and an operation control section configured to stop the operation of the robot when both the first condition and the second condition are satisfied, while continuing the operation of the robot when at least one of the first condition and the second condition is not satisfied.

Systems and methods for determining movement of a robot are provided. A computing system of the robot receives information including an initial state of the robot and a goal state of the robot. The computing system determines, using nonlinear optimization, a candidate trajectory for the robot to move from the initial state to the goal state. The computing system determines whether the candidate trajectory is feasible. If the candidate trajectory is feasible, the computing system provides the candidate trajectory to a motion control module of the robot. If the candidate trajectory is not feasible, the computing system determines, using nonlinear optimization, a different candidate trajectory for the robot to move from the initial state to the goal state, the nonlinear optimization using one or more changed parameters.

An embodiment includes an exoskeleton robotic system including: a first linkage; a bearing coupled to the first linkage; a joint including a motor configured to move the first linkage along the bearing; an axial load sensor configured to sense an axial force transmitted to the axial load sensor via the joint, the axial force including one of tension or compression but not torque; a bracket including first and second bracket locations and first and second arms; and a housing that includes at least part of the joint and which couples the bracket to the bearing. The bracket couples to the housing at the first bracket location and couples to the axial load sensor at the second bracket location. The first arm couples the second arm to the first bracket location, and the second arm couples the first arm to the second bracket location.

A method for teaching a robot to perform an operation based on human demonstration using force and vision sensors. The method includes a vision sensor to detect position and pose of both the human's hand and optionally a workpiece during teaching of an operation such as pick, move and place. The force sensor, located either beneath the workpiece or on a tool, is used to detect force information. Data from the vision and force sensors, along with other optional inputs, are used to teach both motions and state change logic for the operation being taught. Several techniques are disclosed for determining state change logic, such as the transition from approaching to grasping. Techniques for improving motion programming to remove extraneous motions by the hand are also disclosed. Robot programming commands are then generated from the hand position and orientation data, along with the state transitions.

Provided is a robot control device that can suppress the stoppage of operations due to the detection of a contact error. The robot control device controls a robot that implements welding in association with contact with a to-be-welded object, said device comprising: an action stoppage unit that stops the action of the robot if detected that the robot has been subjected to an external force equal to or greater than a threshold; an instructing unit that instructs a welding power supply device to start welding; and a detection sensitivity adjustment unit that lowers the sensitivity at which as external force is detected at the action stoppage unit during a period of time from the point in time at which the instructing unit instructs the welding power supply device to start welding until a prescribed wait time has elapsed.