Frommer Lawrence & Haug, LLP.
Robot apparatus
 A robot apparatus including a mechanical system having at least one mechanical portion arranged to be operated by a drive portion; a mechanical-system-command converter arranged to receive a command which is independent from a mechanical system and which does not depend on the mechanical system to convert the command independent from the mechanical system into a command depending on the mechanical system and adaptable to the mechanical system; and a control portion for controlling the operation of the drive portion in accordance with the command depending on the mechanical system supplied from the mechanical-system-command converter. 
Sony Corporation
B
B62D
inventional
Masahiro
Fujita