A robot controller is a controller which controls, via a hand control device, a robot hand that grips an article with two or more gripping portions. The robot controller includes, a size information acquisition unit which acquires size information about the article based on an image obtained by a visual sensor for detecting the article, and a gripping adjustment unit which changes, in response to the size information, a gripping distance, which is the space between the gripping portions, in a gripping state or a gripping force of the gripping portions in the gripping state.

A robot controller is a controller which controls, via a hand control device, a robot hand that grips an article with two or more gripping portions. The robot controller includes, a size information acquisition unit which acquires size information about the article based on an image obtained by a visual sensor for detecting the article, and a gripping adjustment unit which changes, in response to the size information, a gripping distance, which is the space between the gripping portions, in a gripping state or a gripping force of the gripping portions in the gripping state.

A method for controlling an aerial vehicle including a compliant arm mechanism is disclosed. A propulsion system of the aerial vehicle is controlled to fly the aerial vehicle to an area proximate to a surface. One or more of the propulsion system and the compliant arm mechanism are controlled such that the compliant arm mechanism contacts the surface. The compliant arm mechanism is configured to extend laterally beyond a perimeter of the propulsion system. One or more sensor signals indicating contact of the compliant arm mechanism against the surface are received via a sensor. A force at which the aerial vehicle presses against the surface is determined based on the one or more sensor signals.

A method for controlling an aerial vehicle including a compliant arm mechanism is disclosed. A propulsion system of the aerial vehicle is controlled to fly the aerial vehicle to an area proximate to a surface. One or more of the propulsion system and the compliant arm mechanism are controlled such that the compliant arm mechanism contacts the surface. The compliant arm mechanism is configured to extend laterally beyond a perimeter of the propulsion system. One or more sensor signals indicating contact of the compliant arm mechanism against the surface are received via a sensor. A force at which the aerial vehicle presses against the surface is determined based on the one or more sensor signals.

A three-rotational-degree-of-freedom connection mechanism required for a robot that can make motion similar to a human has a simple structure, and there is no restriction on motion within a movable range. The three-rotational-degree-of-freedom connection mechanism includes a joint connecting a second member rotatably to a first member with three rotational degrees of freedom including rotation around a torsion axis, three actuators each including variable length links having a variable length, and power sources for generating force changing the lengths of variable length links and three first-member-side link attaching units provided in first member and the second-member-side link attaching units provided on the second member such that variable length links having a twisted relationship with respect to a torsion axis exist in each state within a movable range of joint.

A three-rotational-degree-of-freedom connection mechanism required for a robot that can make motion similar to a human has a simple structure, and there is no restriction on motion within a movable range. The three-rotational-degree-of-freedom connection mechanism includes a joint connecting a second member rotatably to a first member with three rotational degrees of freedom including rotation around a torsion axis, three actuators each including variable length links having a variable length, and power sources for generating force changing the lengths of variable length links and three first-member-side link attaching units provided in first member and the second-member-side link attaching units provided on the second member such that variable length links having a twisted relationship with respect to a torsion axis exist in each state within a movable range of joint.

A device forming a robotic hand, including a base forming a hand palm, at least two articulated structures each forming a robotic finger, each articulated structure being connected to the base by at least one articulation, at least one drive mechanism for each articulation, at least one actuator arranged to actuate the at least one drive mechanism by means of at least one flexible drive link connecting and driving the at least one drive mechanism, structure for measuring the pivoting of the at least one actuator and one or more of the articulations, a glove covering the base and the at least two articulated structures, the glove being closed so as to form, inside the glove, a volume filled with oil between the wall of the glove and the base and the at least two articulated structures. Robotic hands used in aquatic environments at great depths are also disclosed.

A device forming a robotic hand, including a base forming a hand palm, at least two articulated structures each forming a robotic finger, each articulated structure being connected to the base by at least one articulation, at least one drive mechanism for each articulation, at least one actuator arranged to actuate the at least one drive mechanism by means of at least one flexible drive link connecting and driving the at least one drive mechanism, structure for measuring the pivoting of the at least one actuator and one or more of the articulations, a glove covering the base and the at least two articulated structures, the glove being closed so as to form, inside the glove, a volume filled with oil between the wall of the glove and the base and the at least two articulated structures. Robotic hands used in aquatic environments at great depths are also disclosed.

A flexible robot end effector includes the end effector including a mounting assembly and a flexible finger, one end of the flexible finger configured to mount at one side of the mounting assembly; the flexible finger including a protective layer and a plurality of holding mechanisms; the flexible finger further including a base, and two opposite sides of the base respectively connected with the holding mechanism and a pneumatic device; the protective layer configured to be sleeved on both outsides of the holding mechanism and the base so that an airtight chamber is formed among the base, the holding mechanism and the protective layer; when the air is blown into the airtight chamber by the pneumatic device, the flexible fingers inflated, and a gap between the two adjacent holding mechanisms gradually increasing.

A flexible robot end effector includes the end effector including a mounting assembly and a flexible finger, one end of the flexible finger configured to mount at one side of the mounting assembly; the flexible finger including a protective layer and a plurality of holding mechanisms; the flexible finger further including a base, and two opposite sides of the base respectively connected with the holding mechanism and a pneumatic device; the protective layer configured to be sleeved on both outsides of the holding mechanism and the base so that an airtight chamber is formed among the base, the holding mechanism and the protective layer; when the air is blown into the airtight chamber by the pneumatic device, the flexible fingers inflated, and a gap between the two adjacent holding mechanisms gradually increasing.