The robotic system includes a robotic arm; a shape information acquisition section acquiring shape information of an object, based on a time difference between time when laser beam is emitted by an light emitting section and time when reflected light is received by a light receiving section; an inertial sensor acquiring position information of the robotic arm during damped vibration when the moving robotic arm becomes stationary; and a control section identifying the position and posture of an object, based on shape information and position information, wherein the control section performs first control to identify a position and an posture of the object based on shape information and position information at a first time and shape information and position information at a second time after the first time during damped vibration of the robotic arm.

A stabilization method incorporated with a mobile robot having a body, a plane-pressure sensor, and a movement mechanism is disclosed and includes the following steps: sensing and obtaining a pressure distribution of the body through the plane-pressure sensor; computing a center of gravity (CoG) position of the body in accordance with the pressure distribution; determining whether the CoG position is located within a steady zone pre-defined upon the body; and, providing a reverse force toward a CoG offset direction of the CoG position when the CoG position is determined to be off the steady zone.

A robot includes a wrist unit that has a tool attached to a distal end face thereof and that changes the orientation of the tool, the tool performing work on a work target device secured to an installation surface; and a movable unit that changes the three-dimensional position of the wrist unit. The movable unit includes an arm that has a longitudinal axis and the wrist unit is attached to the distal end thereof, and a visual sensor that has a field of view oriented in a direction intersecting the longitudinal axis of the arm is attached to the a positon closer to the base end than the distal end face of the wrist unit is.

A walking control method of a robot is provided. The method includes receiving a walking command of the robot including a link device having a plurality of links that correspond to both lower limbs. In response to receiving the walking command, implementing walking of the robot by providing torque to the link device to move a first lower limb is moved. In a double stance state where foot ends of the both lower limbs are simultaneously in contact with ground while the lower limb to be moved is changed, a driving force is generated in the double stance by adjusted the torque of the drive device to virtually move the foot ends of the both lower limbs by a predetermined stable distance in an opposite direction to a walking direction.

There are a biped robot gait control method and a biped robot, where the method includes: obtaining six-dimensional force information, and determining a motion state of two legs of the biped robot; calculating a ZMP position of each of two legs of the biped robot; determining a ZMP expected value of each of the two legs in real time; obtaining a compensation angle of an ankle joint of each of the two legs of the biped robot by inputting the ZMP position, a change rate of the ZMP position, the ZMP expected value, and a change rate of the ZMP expected value to an ankle joint smoothing controller so as to perform a close-loop ZMP tracking control on each of the two legs; adjusting a current angle of the ankle joint of each of the two legs of the biped robot in real time; and repeating the forgoing steps.

A computer-assisted device includes an articulated arm with a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to send one or more first commands to a plurality of brakes in the articulated arm to begin a release of the plurality of brakes in a predetermined staggered manner, detect a disturbance in a point of interest of the computer-assisted device caused by each brake of the plurality of brakes as the brake is released, and send one or more second commands to the plurality of joints to compensate for the disturbance. In some embodiments, the one or more first commands prevent simultaneous release of two or more brakes of the plurality of brakes. In some embodiments, the one or more first commands cause brakes of the plurality of brakes to release within a predetermined time of each other.

A method for force or torque sensing in an electromechanical actuator-driven robot comprising one or more links, one or more joints, an end effector and a controller is provided, the method comprising: estimating a first set of load torques in one or more joints in a given configuration of the robot without external force or load applied to the end effector; identifying gravitational and frictional components in the first set of load torques; estimating a second set of load torques in the one or more joints in the given configuration of the robot with an external force or load applied to the end effector; calculating a difference between the second set of load torques and the first set of load torques, taking into account the identified gravitational and frictional components; calculating an external force or torque acting on the end effector based on the difference between the second set of load torques and the first set of load torques using a Jacobian matrix for the given configuration of the robot; and presenting the external force or torque in a Cartesian space. An apparatus for force or torque sensing in an electromechanical actuator-driven robot, the apparatus comprising at least one processor programmed to perform said method, a computer program which, when executed by at least one processor, causes the at least one processor to perform force or torque sensing in an electromechanical actuator-driven robot according to said method, and a non-transitory storage medium for storing said program are also provided. The technical result consists in improved precision of force or torque sensing on an end effector of an electromechanical actuator-driven robot in a manner which does not require using expensive force/torque sensors in robot joints.

An impedance control method as well as a controller and a robot using the same are provided. The method includes: obtaining joint motion information and joint force information in the joint space of a robotic arm and an actual interaction force acting on an end-effector, and calculating actual motion information of the end-effector in the task space based on the joint motion information; calculating a corrected desired trajectory using environment information and a desired end-effector interaction force, and calculating the impedance control torque based on the joint force information, the actual interaction force, the actual motion information, and desired end-effector information including the corrected desired trajectory and determining a compensation torque based on a nonlinear term in a constructed dynamics equation so as to perform a joint torque control on the robotic arm based on the impedance control torque and the compensation torque.

A system includes a robotic manipulator including a serial chain comprising a first joint, a first link, and a second link. The second link is between the first joint and the first link in the serial chain. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data and a kinematic model of the robotic manipulator, and control the first joint based on the first joint state estimate.

A computing system and method are presented. The computing system may store sensor data which includes: (i) a set of movement data, and (ii) a set of actuation data. The computing system may divide the sensor data into training data and test data by: (i) selecting, as the training data, movement training data and corresponding actuation training data, and (ii) selecting, as the test data, movement test data and corresponding actuation test data. The computing system may determine, based on the movement training data and the actuation training data, at least one of: (i) a friction parameter estimate or (ii) a center of mass (CoM) estimate, and may determine actuation prediction data based on the movement test data and based on the at least one of the friction parameter estimate or the CoM estimate. The computing system may further determine residual data, and determine a value for an error parameter.