A control method includes an input step for inputting information concerning a setting angle for a robot arm of a robot, the robot including the robot arm and a force detecting section that detects force applied to the robot arm, and a calculating step for calculating, based on a first force detection parameter of the force detecting section corresponding to setting at a first setting angle for the robot arm and a second force detection parameter of the force detecting section corresponding to setting at a second setting angle different from the first setting angle for the robot arm, a third force detection parameter of the force detecting section at the setting angle for the robot arm.

A method of transporting an object using a system comprising a plurality of robots. The method comprises one or more robots of the plurality of robots arranging themselves to each exert a respective transporting force on the object. Each of the one or more robots evaluates whether it satisfies a transport criterion while arranged to exert the respective transporting force on the object. If all of the one or more robots satisfy the transport criterion, the one or more robots exert the respective transporting forces on the object to transport the object towards a destination. At least one of the one or more robots evaluates whether it satisfies the transport criterion based on observations of other robots of the plurality of robots within its vicinity.

A robot balance control method, a controller, and a computer readable storage medium are provided. The method includes: obtaining a desired motion trajectory matching a current motion status by performing a parameter adaptation adjustment on a current planned motion trajectory; determining, according to the motion status, a desired state parameter of each of soles, a centroid, and a waist of a humanoid robot for conforming to the desired motion trajectory; calculating, based on the motion status and the desired state parameter of each of the soles, the centroid, and the waist of the humanoid robot, a desired driving parameter of the humanoid robot for simultaneously meeting a robot dynamics requirement, a sole control requirement, a centroid control requirement, a waist control requirement, and force control parameter distribution constraint(s) at the current moment; and controlling, based on the desired driving parameter, a movement of the humanoid robot.

A massage motion control method, a robot controller using the same, and a storage medium are provided. The method includes: calculating a robot end desired speed and a robot end desired angular speed corresponding to a desired massage trajectory of a massage robot to compensate using two obtained robot end compensation amounts in the case that the desired massage trajectory for a target massage area at a current control cycle, a robot end speed compensation amount meeting a desired massage intensity requirement, and a robot end angular speed compensation amount adapted to an environmental curvature of the target massage area are obtained, and controlling the massage robot by determining a corresponding to-be-outputted joint angle based on motion parameter(s) obtained by the compensation. In this manner, the adaptive change of the massage position and the massage intensity for the massage area of the patient can be realized.

A method and computing system comprising identifying one or more candidate objects for selection by a robot. A path to the one or more candidate objects may be determined based upon, at least in part, a robotic environment and at least one robotic constraint. A feasibility of grasping a first candidate object of the one or more candidate objects may be validated. If the feasibility is validated, the robot may be controlled to physically select the first candidate object. If the feasibility is not validated, at least one of a different grasping point of the first candidate object, a second path, or a second candidate object may be selected.

A surface finishing apparatus includes: an arm to which a tool is attached; a force sensor that detects force applied to the tool; a visual sensor acquiring an image of a plane surface; a storage device storing data indicating a target state of the plane surface; and a controller that performs removing position determination process for determining, by using at least unfinished-surface image data and the data indicating the target state, a plurality of removing positions on the plane surface of the member, and arm control process for controlling the arm to sequentially perform surface removal at the plurality of determined removing positions, wherein a surface inspection agent is applied to the plane surface whose image is to be acquired by the visual sensor, and thereby the surface inspection agent is distributed over the plane surface.

A system for moving items in a facility may be described herein. The system may instruct components of the system to move the items at different speeds or velocities based on an item's fragility rating. A fragility rating may indicate an amount of force that an item withstands prior to damaging the item. A fragility rating for an item may be determined based on known fragility ratings of items with similar item metrics.

A design method of serial manipulator that comprises an end effector, a number of random-access links, and a number of motors, includes: obtaining a desired motion profile of the end effector; discretizing the desired motion profile into a plurality of points, wherein each of the points carries information of speed, acceleration, and force/torque of the end effector at the point; determining the number of degrees of freedom of the serial manipulator, and initializing the length of each of the links and the motor type of each of the motors; and at each of the points, optimizing the initialized lengths of the links and the motor types of the motors by calculating a dynamic manipulability ellipsoid at the end effector, to obtain desired lengths of the links and desired motor types of the motors, which allows the end effector to execute the desired motion profile under predetermined constraints.

A gripper includes at least one movable finger. Each movable finger includes a first motor, a second motor, a first motor link having a first end coupled to a rotor of the first motor, a second motor link having a first end coupled to a rotor of the second motor, a finger link having a first end in pivotal connection with a second end of the second motor link and a gripper pad, and a connecting link having a first end in pivotal connection with a second end of the first motor link and a second end in pivotal connection with the finger link. The gripper further includes at least one controller programmed or configured to actuate the first motor and the second motor of each of the at least one movable finger.

One variation of a method for autonomously scanning and processing a part includes: accessing a part model representing a part positioned in a work zone adjacent a robotic system; retrieving a sanding head translation speed; retrieving a toolpath for execution on the part defining positions, orientations, and target forces applied by the sanding head to the part. The method includes traversing the sanding head along the toolpath, at the sanding head translation speed; reading a sequence of applied forces from a force sensor coupled to the sanding head at positions along the toolpath; and deviating from the toolpath to maintain the set of applied forces within a threshold difference of a sequence of target forces along the toolpath. In one variation of the method, the robotic system executes a toolpath at a duration less than target duration by selectively varying target force and sanding head translation speed across the part.