According to the present disclosure, there is provided a moving body including a holding device configured to hold a cargo, a driving device configured to move the moving body, a detection device configured to detect a parameter relating to a stable degree of the cargo in the holding device when the moving body is moving, and a control device configured to determine whether a state of the cargo is stable using the parameter relating to the stable degree, and to perform stabilization control in which the driving device is controlled such that the state of the cargo is stable when it is determined that the state of the cargo is not stable.

A system for a boat includes a first guideway installed under a main deck of the boat, a first battery pack coupled to the first guideway under the main deck, and a first actuator configured to move the first battery pack along the first guideway. A controller is electrically and/or signally coupled with the first actuator. A user input device is electrically and/or signally coupled with the controller. The controller is configured to control the first actuator to move the first battery pack along the first guideway in response to an input to the user input device so as to relocate the weight of the first battery pack under the main deck.

An apparatus includes: a mechanical interface configured to couple an object to a frame of an aircraft; one or more processors; and a computer readable medium storing instructions that, when executed by the one or more processors, cause the apparatus to perform functions that include: detecting a control input provided to an actuator of the aircraft and/or an output of a sensor that indicates a state of the actuator; determining, based on the control input provided to the actuator and/or the output of the sensor, a procedure for moving the object relative to the frame; and using the mechanical interface to perform the procedure.

A transport system includes: a plurality of autonomously movable first moving bodies; and one or more second moving bodies configured to transport the plurality of first moving bodies as a first assembly in which relative positions of the plurality of first moving bodies with respect to each other are identified.

A robot includes a moving body including a body part, an information acquisition part, and a controller that controls the moving body. The moving body further includes a plurality of wheels disposed on both sides of the body part in a front-rear direction. The controller determines a first allowable acceleration that is an allowable acceleration of the moving body in a reference posture and a second allowable acceleration that is an allowable acceleration of the moving body in a current posture, compares the first allowable acceleration and the second allowable acceleration, and controls the moving body based on the posture of the moving body and a difference between the first allowable acceleration and the second allowable acceleration.

A method in accordance with at least some embodiments of the present technology includes determining first hazard information about a human in an environment at a first time. The method further includes decelerating a mobile robot in the environment based at least partially on the first hazard information. The method further includes determining second hazard information about the human at a second time after the first time. The method further includes reconfiguring the mobile robot based at least partially on the second hazard information. Reconfiguring the mobile robot includes moving the mobile robot from a standing configuration to a non-standing configuration. The method further includes determining third hazard information about the human at a third time after the second time. Finally, the method includes causing a safe operating stop of the mobile robot based at least partially on the third hazard information.

Methods and systems are provided for controlling wheel-legged quadrupedal robots using pose optimization and force control according to quadratic programming (QP) are disclosed. An example robotic system leverages the whole-body motion and the wheel actuation to roll over high obstacles while keeping the wheel torques to navigate the terrain. Wheel traction and balancing is employed for the robot body. Linear rigid body dynamics with wheels are used for real-time balancing control of wheel-legged robots. Further, an effective pose optimization method is implemented for locomotion over steep ramp and stair terrains. The pose optimization solves for optimal poses to enhance stability and enforce collision-fee constraints for the rolling motion over stair terrain.

An apparatus includes: a mechanical interface configured to couple an object to a frame of an aircraft; one or more processors; and a computer readable medium storing instructions that, when executed by the one or more processors, cause the apparatus to perform functions that include: detecting a control input provided to an actuator of the aircraft and/or an output of a sensor that indicates a state of the actuator; determining, based on the control input provided to the actuator and/or the output of the sensor, a procedure for moving the object relative to the frame; and using the mechanical interface to perform the procedure.

A system for a boat includes a first guideway installed under a main deck of the boat, a first battery pack coupled to the first guideway under the main deck, and a first actuator configured to move the first battery pack along the first guideway. A controller is electrically and/or signally coupled with the first actuator. A user input device is electrically and/or signally coupled with the controller. The controller is configured to control the first actuator to move the first battery pack along the first guideway in response to an input to the user input device so as to relocate the weight of the first battery pack under the main deck.

A wheel-legged robot is considered as n.sup.th-order inverted pendulum model including a wheel, n links, and n revolute joints. First links are from at least two leg mechanisms of the wheel-legged robot. The wheel is from mobile wheels respectively connected to the at least two leg mechanisms. A balance control method for the robot includes: obtaining an actual state vector of the wheel-legged robot at a first moment; calculating an equivalent state vector at the first moment based on the actual state vector at the first moment; establishing a sliding surface based on the equivalent state vector at the first moment; determining a force and torque instruction for whole-body joints based on the sliding surface, the equivalent state vector at the first moment, and a dynamics equation of the wheel-legged robot; and separately controlling the n revolute joints at a second moment according to the force and torque instruction.