公开(公告)号：US20210245647A1

公开(公告)日：2021-08-12

申请号：US17253879

申请日：2019-06-19

Applicant: SONY CORPORATION

Inventor： TAKASHI KITO ,  YUKI ITOTANI ,  KOJI NAKANISHI ,  TAKARA KASAI ,  KAZUO HONGO ,  YASUHISA KAMIKAWA ,  ATSUSHI SAKAMOTO

IPC: B60P1/02

Abstract: A robot (1) includes: a main body (10) including a hollow portion (110) that is a hollow space penetrating the main body (10) in an up-down direction, the main body (10) being configured to lift and support a support object (30) inserted in the hollow portion (110) by moving in the up-down direction; and a movable member (200) configured to move the main body (10) at least in the up-down direction by operating a leg (20).

公开(公告)号：US20200214779A1

公开(公告)日：2020-07-09

申请号：US16628285

申请日：2018-05-23

Applicant: SONY CORPORATION

Inventor： HIROMASA MASUDA ,  YUKI ITOTANI

IPC: A61B34/37 ,  B25J3/00

Abstract: A control device and a control method of a master-slave system and the master-slave system are provided. A control device, which controls an operation of a master-slave system, includes a control unit that applies, to a control system of the master-slave system, a restraint force corresponding to an operation in a desired translational or rotational direction by the master. The control unit applies, to the control system, the restraint force according to a difference between a current position or posture of the master and a reference value of a position or posture to be restrained. The control system controls the master-slave system, for example, by a bilateral control method or a unilateral control method.