A multi-joint robot includes: a base; a first arm connected to the base via a first joint shaft and configured to pivot in a horizontal direction with respect to the base; a second arm connected to the first arm via a second joint shaft and configured to pivot in a horizontal direction with respect to the first arm; a first rotation driving device configured to rotationally drive the first joint shaft; a second rotation driving device configured to rotationally drive the second joint shaft; a moving device configured to move the base in an axial direction of the first joint shaft; and a control device configured to control the first driving device, the second driving device, and the moving device.

Mechanisms to realize lightweight rotational joints having independently adjustable compliance in one or more degrees of freedom are presented herein. In addition, robotic systems incorporating one or more compliant rotational joints as described herein are also presented. In some embodiments, a robotic structure includes a member having adjustable rotational compliance. One or more compliance elements are arranged around a rotational joint. The position of the one or more compliance elements relative to the rotational joint is adjusted to change the overall joint compliance. In some embodiments, the change of position of the one or more compliance elements relative to the rotational joint changes both the induced displacement of the compliance element for a given angular displacement of the rotational joint and the length of the moment arm from the rotational joint to the compliance element.

A robot device includes a first link configured to rotate on a first axis, a second link supported by a tip-end part of the first link so as to be rotatable on a second axis, and a hand part supported by a tip-end part of the second link. When one direction perpendicular to the first axis is a first perpendicular direction, and a direction perpendicular to both the first axis and the first perpendicular direction is a second perpendicular direction, the second axis extends in parallel to the first perpendicular direction and is deviated from the first axis in the second perpendicular direction.

A capacitive sensor for characterizing force or torque includes a first plurality of non-patterned conductive regions and a first plurality of patterned conductive regions, and a second plurality of non-patterned conductive regions and a second plurality of patterned conductive regions. The first and second pluralities of non-patterned conductive regions are facing and the first and second pluralities of patterned conductive regions are facing.

A robot includes: a first arm having a first body, a first housing fixed to the first body, and a first gear transmitting power to a rotary member supported by the first housing so as to be rotatable; a second arm supporting the first arm and having a second body, a second shaft having a second gear meshing with the first gear, and a second bearing supporting the second shaft so that the second shaft is rotatable relative to the second body; and a channel in the arms. An inlet of the channel is formed in an outer surface of the first body, an outlet of the channel opening into a space in which an outer peripheral surface of the second shaft and the second bearing are arranged inside the second arm, the channel extending from the inlet to the outlet through inside of the first body.

An automated method measures geometric curvature deviations between dished surfaces of a plurality of materials to be assessed and a dished surface of a reference material. The method calculates, by computer, at selected points, a difference between the curvature profiles of the dished surface of each material to be assessed and a relief height or curvature profile of the dished surface of the reference material.

The present disclosure provides an acceleration compensation method for a humanoid robot as well as an apparatus and a humanoid robot using the same. The method includes: calculating an angular acceleration of each joint and calculating a six-dimensional acceleration of a centroid of a connecting rod corresponding to the joint in an absolute world coordinate system, if the humanoid robot is in a single leg supporting state; calculating a torque required by the angular acceleration of each joint of the humanoid robot; determining a feedforward current value corresponding to the torque of each joint; and superimposing the feedforward current value on a control signal of each joint to control the humanoid robot. In this manner, the influence of the acceleration can be effectively suppressed, the rigidity of the PID controller of the humanoid robot can be reduced, thereby improving the stability of the entire humanoid robot.

The invention discloses a bionic wrist joint based on an asymmetric 3-RRR parallel mechanism, including: an asymmetric 3-RRR parallel mechanism and a drive unit. The asymmetric 3-RRR parallel mechanism includes: a moving platform, a first static platform, and three asymmetrically distributed parallel branch chains, wherein each branch chain includes a passive rod and an active rod. An end of the active rod is connected to the first static platform via the revolute pair, and another end thereof is connected to the passive rod via the revolute pair. The axes of the revolute pairs at two ends of the active rod form an axis included angle. Three axis included angles are different, the passive rod and the moving platform are connected by the revolute pair, and three axis included angles corresponding to the passive rods are different. The drive unit is configured to drive the asymmetric 3-RRR parallel mechanism to move.

A robot includes an input link, an output link, and a wire routing. The output link is coupled to the input link at an inline twist joint where the output link is configured to rotate about the longitudinal axis of the output link relative to the input link. The wire routing traverses the inline twist joint to couple the input link and the output link. The wire routing includes an input link section, an output link section, and an omega section. A first position of the wire routing coaxially aligns at a start of the omega section on the input link with a second position of the wire routing at an end of the omega section on an output link.

An operation device including a combination of a rotation unit and a linear motion unit. The rotation unit includes a link actuation apparatus and a rotation actuator. The link actuation apparatus includes a proximal end side-link hub, and a distal end side-link hub coupled thereto through three or more link mechanisms so as to enable a varying attitude relative thereto. The link actuation apparatus is mounted to an output shaft of the rotation actuator such that a central axis of the proximal end side-link hub forms an angle relative to an axis of rotation of the rotation actuator. The linear motion unit includes a linear actuator serving as an output portion thereof, and the rotation unit is mounted to this linear actuator.