公开(公告)号：US11458632B2

公开(公告)日：2022-10-04

申请号：US16639382

申请日：2018-05-16

Applicant: SONY CORPORATION

Inventor： Hiroki Saijo ,  Kiyokazu Miyazawa

IPC: B25J9/16 ,  B25J9/00

Abstract: There is provided a robot capable of reducing vibration generated in an arm portion performing work. The robot includes: a first arm portion connected to a body portion and configured to perform work; and a second arm portion connected to the body portion and to be controlled to support the first arm portion, in which the first arm portion includes a first connecting portion connected to the body portion, a first end effector located at an end of the first arm portion opposite to an end where the first connecting portion is located, and a support target portion located between the first connecting portion and the first end effector, and the second arm portion is controlled to support the support target portion.

公开(公告)号：US11577390B2

公开(公告)日：2023-02-14

申请号：US17059040

申请日：2019-03-14

Applicant: SONY CORPORATION

Inventor： Masaya Kinoshita ,  Kazuo Hongo ,  Hiroki Saijo

IPC: B25J9/16 ,  B25J9/00 ,  B62D57/032

Abstract: A center of gravity of a robot device is estimated without utilization of a force sensor or the like. An information processing device including a center-of-gravity estimation unit that calculates, on the basis of torque applied to one or more joints included in each of a plurality of leg portions, reaction force applied from a ground contact surface to each of the plurality of leg portions, and that estimates a center of gravity of a robot device including the plurality of leg portions on the basis of the calculated reaction force on the plurality of leg portions.