A force applying auxiliary device and a control method thereof are provided. The force applying auxiliary device includes a sensor group, a processor, and a force applying driver. The sensor group includes a first sensor disposed on a first side and a second sensor disposed on a second side. The processor collects motion posture data of a user according to the first sensor and the second sensor, and determines whether a motion of the user is abnormal. When determining that the motion of the user is abnormal, the processor selects at least one preset abnormal pattern as a specific abnormal pattern according to the motion posture data, and controls the force applying driver to provide a force by using the specific abnormal pattern. A force difference between first and second forces applied to first and second side feet is adjusted based on a difference in sampling values between the sensors.

In a robot (industrial robot) system, a robot holds a workpiece by pinching the workpiece between movable claws. A controller, which controls the robot, includes a host controller that controls the robot to perform a positioning operation for positioning the hand to a grip position and a gripping operation for displacing each of the movable claws toward each other at the grip position. In the controller, a machine learning device acquires stop reference data set for gripping of the workpiece, distance data indicating a distance between each of the movable claws of the hand positioned at the grip position and the workpiece, and comparison data indicating a deformation amount of the workpiece before and after the gripping operation. The machine learning device performs machine learning using such acquired data, resulting in constructing a model used for setting an operation mode of the gripping operation.

An internal pressure adjustment system includes a gas supply line that supplies incombustible gas to a housing space of a robot, and an exhaust line that exhausts gas from the housing space. The internal pressure adjustment system further includes an on-off valve of a gas pressure driven type that switches between opening and closing of the exhaust line in accordance with the gas supply pressure. The exhaust line is opened in response to an increase in the gas supply pressure and the exhaust line is closed in response to a decrease in the gas supply pressure.

A robot includes a first driving source, a second driving source, an output portion to which both rotation of the first driving source and rotation of the second driving source are transmitted, and a control device configured to execute a first process and a second process. In the first process, the control device controls the first driving source and the second driving source such that when the output portion is rotated toward a predetermined direction, a rotational direction of the output portion is limited to the predetermined direction. In the second process, the control device controls the first driving source and the second driving source such that when the output portion is rotated toward a predetermined direction, the output portion is able to rotate toward a direction opposite to the predetermined direction.

A picking apparatus in an embodiment includes: a gripper, an arm, a detector, and a control unit. The gripper picks and grips an object to be conveyed. The arm moves the gripper and causes the gripper to convey the object to be conveyed. The detector is attached to the arm and senses a force applied to the gripper. The control unit controls an operation of the gripper and the arm. The control unit includes a calculator and a subtractor. The calculator calculates a gravitational force and an inertial force applied to the gripper when the gripper grips and moves the object to be conveyed using an arithmetic expression including a coefficient determined in accordance with a mass of the object to be conveyed. The subtractor subtracts the gravitational force and the inertial force calculated by the calculator from a force applied to the gripper sensed by the detector.

A teaching method for detecting external force applied to a robot arm, driving the robot arm with force control based on the external force, and teaching a position and a posture of the robot arm, the teaching method including gradually relaxing, according to an elapsed time from when operation of the robot arm is started or a movement amount of the robot arm from when the operation of the robot arm is started, a restrictive condition for restricting the driving of the robot arm.

A robot joint torque control system and a load compensation method therefor are provided, which relate to the technical field of robot joint motion control. A mathematical model of the robot joint torque control system is established first. Equivalent transformation is performed on a system functional block diagram thereof, and then it can be seen that load parameters have a great influence on joint torque output. A load compensation controller is designed to effectively eliminate the influence of the load parameters on an output torque of the joint. The system is equivalent to an inertial element on the basis of the compensation, and then a PD controller parameter is adjusted to increase an open-loop gain of the system, so as to increase a system bandwidth and increase a response speed of the joint torque control system, thereby improving performance of the joint torque control system.

A robotic system is disclosed to control multiple robots to cooperatively pick and place objects. In various embodiments, the robotic system includes a first robotic arm having a first end effector; a second robotic arm having a second end effector; and a control computer configured to use the first robotic arm and the second robotic arm to pick and place a plurality of objects, including by using the first robotic arm and the second robotic arm to work cooperatively to pick and place one or more of the objects.

An example implementation for determining mechanically-timed footsteps may involve a robot having a first foot in contact with a ground surface and a second foot not in contact with the ground surface. The robot may determine a position of its center of mass and center of mass velocity, and based on these, determine a capture point for the robot. The robot may also determine a threshold position for the capture point, where the threshold position is based on a target trajectory for the capture point after the second foot contacts the ground surface. The robot may determine that the capture point has reached this threshold position and based on this determination, and cause the second foot to contact the ground surface.

An example method may include i) determining a first distance between a pair of feet of a robot at a first time, where the pair of feet is in contact with a ground surface; ii) determining a second distance between the pair of feet of the robot at a second time, where the pair of feet remains in contact with the ground surface from the first time to the second time; iii) comparing a difference between the determined first and second distances to a threshold difference; iv) determining that the difference between determined first and second distances exceeds the threshold difference; and v) based on the determination that the difference between the determined first and second distances exceeds the threshold difference, causing the robot to react.