A teleoperation assist device includes: a motion acquiring unit configured to acquire information on a motion of an operator who operates an end effector; an intention estimating unit configured to estimate a target object which is a target operated by the end effector and a task which is an operation method of the target object using the information acquired by the motion acquiring unit; an environmental status determining unit configured to acquire environment information of an environment in which the end effector is operated; a parameter setting unit configured to acquire information from the intention estimating unit and the environmental status determining unit and to set parameters of an operation type of the end effector from the acquired information; and an end effector operation determining unit configured to determine an amount of operation of the end effector on the basis of taxonomy which is the set parameters and the information acquired by the motion acquiring unit.

A method of calibrating an impedance control of a robot manipulator, the method including: deflecting a reference point of the robot manipulator from a zero position to a deflected position, wherein the robot manipulator applies a counterforce dependent on a spring constant of the impedance control and on a first determined deflection, wherein the first determined deflection is determined based on joint angles detected by joint angle sensors of the robot manipulator; detecting a second determined deflection by an external position measuring unit; and adapting the spring constant of the impedance control in such a way that the counterforce applied by the robot manipulator corresponds to a predetermined counterforce of the robot manipulator based on the second determined deflection.

A method includes: (a) causing a robotic arm to position a contacting structure of the arm laterally in a horizontal direction in relation to a first subject on a target object; (b) causing the arrn to bring the contacting structure into contact with at least three locations on the first subject; (c) detecting positions of the contacting structure in relation to the robot when contacting the locations; (d) detecting a position of the first subject in relation to the robot by using the detected positions of the contacting structure; (e) performing same steps as the steps (a) to (d) for a second subject on the target object; and (f) detecting a position of the robot in relation to the target object by using the positions of the subjects in relation to the robot and using positions of the subjects in relation to the target object.

A surface following control method for a robot is used for controlling the robot including a hand part, an arm part, and a controller. In this surface following control method for the robot, processes including a normal direction identification process and a work tool posture control process are performed. In the normal direction identification process, a normal direction of a virtual shape at a virtual position where the work tool attached to the hand part contacts the virtual shape which is a shape represented by the formula is identified. In the work tool control process, the work tool attached to the hand part is brought into contact with the target workpiece at a corresponding position which is a position corresponding to the virtual position on the surface of the target workpiece, in a posture along the normal direction identified in the normal direction identification process.

The disclosure provides a dynamic interaction-oriented subject's limb time-varying stiffness identification method and device. The method includes: the combination of subject's limb displacement and measured force data or the combination of angle and measured torque data is collected; based on the time-varying dynamic system constructed based on a second-order impedance model, the linear parameter varying method is utilized to substitute the time-varying impedance parameters and reconstruct the restoring force/torque expression; iterative identification is performed on variable weights, dynamic interaction force/torque, and restoring force/torque by using time-varying dynamic parameters based on the dynamic interaction force/torque expression expanded from basis function; the time-varying stiffness is solved by using variable weights and dynamic interaction force/torque according to expression with substituted the time-varying impedance parameters. The disclosure not only improves the accuracy of the time-varying stiffness identification technology but also expands the application scenarios of the time-varying stiffness identification technology.

A robot controller includes: axis motor control units that control motors for driving axes of a robot; and an action command generation unit that generates a first action command having the shortest action time when the robot is moved from an action start point to an action goal point without considering an obstacle, and selects, from among the axes, a major axis having the longest action time when the action is performed in accordance with the first action command. The first action command includes another axis command, and a major axis command, and the action command generation unit adjusts the other axis command so as to reduce an action time according to the other axis command and outputs a second action command including the major axis command and the adjusted other axis command and corresponding to a first trajectory when determining that the first trajectory avoids a clash between the robot and the obstacle.

An electronic device may receive log information regarding a motion of a wearable device from the wearable device, determine a value of at least one of one or more mobile parameters to be applied to a robot parameter algorithm for calculating a value of a robot parameter used to control the wearable device based on the log information, and determine the value of the robot parameter based on the robot parameter algorithm and the determined value of at least one of the mobile parameters.

An object handling control device includes one or more processors configured to acquire at least object information and status information representing an initial position and a destination of an object; set, when a grasper grasping the object moves from the initial position to the destination, a first region, a second region, and a third region in accordance with the object information and the status information; and calculate a moving route along which the object is moved from the initial position to the destination with reference to the first region, the second region, and the third region.

A subsea manipulator for a remotely operated underwater vehicle (ROV) that includes at least one linear, oil-filled electric actuator to control a motion of the manipulator in a subsea environment is disclosed. The remotely operated underwater manipulator includes an electric actuator for each axis of motion of the manipulator, and an end effector that includes a rotational joint and a tool motor for controlling a tool affixed to the end effector. A method for changing the tool of the manipulator in a subsea environment is disclosed.

A robotic kitting machine is disclosed. In various embodiments, a robotic arm is used to move an item to a location in proximity to a slot into which the item is to be inserted. Force information generated by a force sensor is received via a communication interface. The force sensor information is used to align a structure comprising the item with a corresponding cavity comprising the slot, and the item is inserted into the slot.