A robot control device includes a processor that is configured to execute computer-executable instruction so as to control a robot, wherein the processor is configured to determine that a control target of force control is achieved, based on two conditions made up of a range condition in the case where an output from a force detection unit provided in a robot is within a predetermined range and a continuation condition in the case where a state that satisfies the range condition is continued.

An input device of a surgical manipulator includes an arm unit, a wrist unit including a follower link having a base end rotatably connected to a distal end of the arm unit around a follower rotation axis, a first gimbal link rotatably connected to the follower link, a second gimbal link rotatably connected to the first gimbal link, and an operation unit as a third gimbal link rotatably connected to the second gimbal link, a motor that rotates the base end of the follower link around the follower rotation axis, and a controller configured to perform feedback control of a rotation position of the follower link using a rotation position deviation of a rotation position of the second gimbal link with respect to a second reference rotation position as a rotation position deviation of the follower link by controlling an operation of the motor.

A method includes: obtaining current motion state data of the wheel-legged robot, the current motion state data representing motion features of the wheel-legged robot, inputting the current motion state data into a nonlinear controller to obtain a target joint angular acceleration reference value of a target robot joint of the wheel-legged robot, and inputting the target joint angular acceleration reference value into a whole-body dynamics controller to output a joint torque for controlling the wheel-legged robot to perform a control task.

A method for controlling a slave device during teleoperation is performed by a robotic system. The robotic system includes a master device movable by an operator, and a slave device having a surgical instrument controllable by the master device. The method defines a nominal target pose in a workspace of the slave device, modifies the nominal target pose to obtain a modified target pose, and controls motion of the slave device in the workspace so that the slave follows the modified target pose. Modifying the nominal target pose includes decreasing a translational speed module of the modified target pose relative to speed of the nominal target pose, and/or decreasing instantaneous power or energy imparted to the slave device, according to a transfer function dependent on the instantaneous speed/instantaneous power of the master device and/or the distance between a current position and the nominal target pose of the slave device.