According to one aspect of the present disclosure, a rotor includes a plurality of permanent magnets and a support supporting the permanent magnet. The support includes at least one of an outside support fixed to a radial outside of the outer cores to circumferentially support an end face of the permanent magnet from both sides and an inside support fixed to a radial inside of the outer cores to circumferentially support the end face of the permanent magnet from both sides. Each of the outer cores includes an opposite face parallelly opposed to the end face of the permanent magnet in the circumferential direction. The outside support and the inside support each includes a support face circumferentially supporting the end face. The support face is disposed on a side closer to a center line of the permanent magnet than the opposite face in the circumferential direction.

In one embodiment, a robotic limb includes a scissor linkage. In one embodiment, the scissor linkage includes a rotatable connection, two proximal links, and two motors configured to selectively rotate the two proximal links. Relative rotation between the two proximal links selectively controls extension, retraction, and rotation of the scissor linkage. Additional embodiments are related to scissor linkages including links designed to be have specific length relationships to avoid a singularity occurring during operation. In some embodiments, links may include torque transmissions to avoid singularities and/or to transmit torques to a distal portion of a scissor linkage for use in actuating other components including another scissor linkage arranged in series with first.

Routines and methods disclosed herein can increase a power efficiency of a prosthetic hand without drastically reducing the speed at which it operates. A prosthesis can implement an acceleration profile, which can reduce an energy consumption of a motor, or an amount of electrical and/or mechanical noise produced by a motor, as the motor as the motor transitions from an idle state to a non-idle state. A prosthesis can implement a deceleration profile, which can reduce the energy consumption of the motor, or an amount of electrical and/or mechanical noise produced by a motor, as the motor transitions from a non-idle state to an idle state.

A method of controlling a moving robot is provided. The method of controlling a moving robot includes the steps of: (a) performing a basic motion of the moving robot which moves on a rotating mop; (b) measuring the slip rate of the moving robot; and (c) controlling the travel of the moving robot.

In one form there is disclosed an internally balanced involute-type speed reducer; the reducer comprising a stator stage, an input stage, an output stage, and a plurality of gear sets in mesh. In a further form there is disclosed an actuator assembly for a robot; said actuator assembly comprising a stator core located within an outer housing and subtended by inner and outer mounting hubs; said hub supporting a drive train and bearings within the actuator assembly. In a further form there is disclosed a transducer system operable in conjunction with the reducer or actuator assembly.

A rotary axis module includes an actuator that includes a first member and a second member, the actuator relatively driving the second member so as to rotate about a predetermined axis with respect to the first member, a DC power source, and a switch. The actuator includes a brake that is releasable by supplying a DC voltage. A first brake circuit that is connected to a control device that controls the actuator, and a second brake circuit that is provided in parallel with the first brake circuit and connected to the DC power source via the switch, are connected to the brake.

A mobile robot apparatus is provided. The mobile robot apparatus includes: a body; a first wheel disposed at a first side surface of the body; a second wheel disposed at a second side surface of the body opposite to the first side surface; a first drive device configured to provide a driving force to each of the first wheel and the second wheel; a second drive device configured to move the body in a vertical direction relative to at least one of a first center axis of the first wheel and a second center axis of the second wheel; and a processor configured to control the second drive device to move the body to contact a surface on which the mobile robot apparatus is disposed, or move the body away from the surface on which the mobile robot apparatus is disposed.

A first drive unit includes a motor having a rotation shaft in which a through hole is provided, a drive section rotating the rotation shaft, and a first case covering at least a part of the drive section. Further, the unit includes a reducer having an input portion engaging with one end portion of the rotation shaft, an attachment portion attached to the motor, and an output portion reducing and outputting rotation of the rotation shaft. Furthermore, the unit includes a first connector fixed to a third case of the motor and coupled to first wiring coupled to outside and a second connector fixed to the attachment portion of the reducer and coupled to second wiring coupled to the outside. In addition, the first drive unit includes internal wiring passing through the through hole and coupled to the first connector and the second connector.

A robot apparatus equipped with a driving source includes a power transmission module configured to transmit power to the driving source, a power reception module configured to receive the power transmitted by the power transmission module, and a control device configured to control a power transmission start timing in such a manner that the power reception module receives predetermined power at a timing at which the driving source operates.

An adapter system for connecting the last element of a kinematic chain of a handling device to same, wherein the last element has a computer-storage module, as well as at least one actuator and/or at least one sensor. At least three sequentially positioned system modules are arranged between the penultimate and the last element. A first system module is a mechanical module, via which electrical and/or pneumatic connection lines are guided. In a second system module, the connection lines are connected with transition points of a negative adapter geometry of a mechatronic combi-interface. At least one further system module is arranged in a couplable manner between the second system module and the last element. A third system module has an electronics assembly which adapts the predefined system architecture to the device interface of the last element.