A method of controlling a robot manipulator, the method including: providing a database containing body zones of a person, wherein each of the body zones is assigned a respective maximum permissible value of contact pressure value, determining a current or a future contact event of the robot manipulator involving the person, and determining a body zone of the person that is contacted, determining a reference position fixed relative to a body of the person, wherein the reference position indicates beginning of a spatial progression of depression of tissue of the person during the contact event with the person, and controlling the robot manipulator in an impedance-regulated manner, such that the reference position serves as a zero position of an artificial spring component of impedance regulation of the robot manipulator and a maximum permissible contact pressure is not exceeded as a limit value.

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.

Provided are a controller and a program which optimize specifications of a motor, thereby enabling a reduction in costs related to an industrial robot. This controller controls a multi-axis robot for holding a workpiece and comprises: a planned operation angle position acquisition unit which acquires a planned operation angle position of the motor for each axis on the basis of a planned movement position of the workpiece; a torque calculation unit which calculates a load torque applied from the workpiece to the motor 140 on the basis of a load weight relating to the workpiece and a horizontal distance from the axial center of each axis to the workpiece; and a movement possibility determination unit which determines whether or not the motor can be moved to the planned operation angle position on the basis of a difference between the calculated load torque and an allowable torque of the motor.

A torsion sensor, configured to sense torque generated or received by a joint actuator, is provided. The torsion sensor includes an inner ring, an outer ring, multiple radial bridging portions, multiple overload structures, and multiple strain sensing units. The inner ring and the outer ring are disposed on the same axis and are separated from each other. The torque enables the inner ring and the outer ring to relatively rotate with reference to the axis. The radial bridging portions are disposed at intervals and each radial bridging portion is connected between the inner ring and the outer ring along a radial direction, and each radial bridging portion has at least one depression. Each overload structure extends from the inner ring toward the outer ring along the radial direction and has at least one gap with the outer ring. The strain sensing units are respectively disposed on the radial bridging portions.

Various gripped objects having different sizes, weights, centers of gravity, and the like are continuously and stably moved at a high speed. A control device includes: a state information generation unit that generates and updates state information on a robot and a gripped object; and a control information generation unit that generates, based on the state information and a base trajectory generated in advance on which the robot is configured to move the gripped object from a start point to an end point, control information for controlling the robot.

Methods of collision handling for robotic surgical systems include slipping an input handle of a user interface of the robotic surgical system relative to a pose of a tool of a surgical robot of the robotic surgical system when a portion of the surgical robot collides with an obstruction and an input handle is moved in a direction that corresponds to moving the tool towards the obstruction. The input handle having an offset relative to a desired pose of the tool after the input handle is slipped.

Systems and methods for detecting pose and force against an object are provided. A method includes receiving a signal from a deformable sensor comprising data from a deformation region in a deformable membrane resulting from contact with the object utilizing an internal sensor disposed within an enclosure and having a field of view directed through a medium and toward a bottom surface of the deformable membrane. The method also determines a pose of the object based on the deformation region of the deformable membrane. The method also determines an amount of force applied between the deformable membrane and the object is determined based on the deformation region of the deformable membrane.

In an embodiment, a method and system use various sensors to determine a shape of a collection of materials (e.g., foodstuffs). A controller can determine a trajectory which achieves the desired end-state, possibly chosen from a set of feasible, collision-free trajectories to execute, and a robot executes that trajectory. The robot, executing that trajectory, scoops, grabs, or otherwise acquires the desired amount of material from the collection of materials at a desired location. The robot then deposits the collected material in the desired receptacle at a specific location and orientation.

The disclosure provides a gripping position determination device, a gripping position determination system, a gripping position determination method, and a recording medium. The gripping position determination device for a robot hand having a plurality of multi joint fingers includes: a frictional force distribution calculation part estimating, from a predictive control of a gripping force when an object is gripped by at least two fingers, a frictional force between one of the gripping fingers and the object, and calculates a frictional force distribution where grapping of the object is possible on a surface of the object based on a value related to a frictional force calculated by using the estimated frictional force; a grippable region selection part selecting, from the frictional force distribution, at least one grippable region; and a gripping position calculation part calculating, from the selected grippable region, a gripping position where stable gripping of the object is possible.

A control device for a robot includes a comparing unit and a controller. When the robot equipped with a force sensor capable of detecting force components of a same type in a plurality of directions operates, the comparing unit compares a magnitude of each of the force components detected by the force sensor with a predetermined threshold value for each of the directions. If the comparing unit determines that a magnitude of a force component in any of the directions exceeds the threshold value, the controller controls the robot to avoid an increase in the magnitude of the force component in the direction.