{
  "abstract": "A control apparatus of a robot that includes a flexible portion and a locking mechanism for fixing the flexible portion, the control apparatus including: a lock control unit configured to control locking and unlocking of the flexible portion; and an operation control unit configured to control operation of the robot using different types of control policies depending on whether the flexible portion is locked or unlocked. With this control apparatus, it is possible to effectively control a robot in which locking and unlocking of the flexible portion can be switched.",
  "assignees": [
    "OMRON TATEISI ELECTRONICS CO"
  ],
  "authors": [
    "HAMAYA MASASHI",
    "IJIRI YOSHIHISA",
    "NAKASHIMA CHISATO",
    "SHIBATA YOSHIYA",
    "TANAKA KAZUTOSHI",
    "VON DRIGALSKI FELIX"
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  "published_at": "2026-09-15T19:12:19.169985Z",
  "publisher": "Nebula Innovations Limited",
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  "source_date": "2026-03-03",
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  "title": "Control device, robot system, and robot control method",
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