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公开(公告)号：US07650203B2
公开(公告)日：2010-01-19
申请号：US11024815
申请日：2004-12-30
申请人： Leonid Maslov , Young Son , Joo-young Kwak
发明人： Leonid Maslov , Young Son , Joo-young Kwak
CPC分类号： B25J19/0091 , B25J13/085
摘要： Provided is a foot structure for a humanoid robot capable of effectively keeping its balance in a pause state or action. The foot structure includes a support; a plurality of lower structures having an upper member connected to a bottom of the support; a plurality of lower members having a plurality of independent portions each movably connected to the upper member; and a revolute joint for coupling the upper member and the lower member. Since a contact between the foot structure and the floor is smoothly made, a shock is prevented from being transferred to a body of the humanoid robot. Also, a vibration generated when the humanoid robot steps on the floor is eliminated, so that the humanoid robot can pose a stable and smooth gate.
摘要翻译： 提供了一种用于类人机器人的脚结构，其能够有效地将其平衡保持在暂停状态或动作。 足部结构包括支撑件; 多个下部结构，其具有连接到所述支撑件的底部的上部构件; 多个下部构件，具有多个独立部分，每个独立部分可移动地连接到上部构件; 以及用于联接上部构件和下部构件的旋转接头。 由于脚部结构与地板之间的接触顺利地进行，所以防止了冲击被传递到人形机器人的身体。 此外，当人形机器人踏在地板上时产生的振动被消除，使得类人形机器人能够形成稳定和平稳的门。
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2.发明申请Hand/eye calibration method using projective invariant shape descriptor of 2-dimensional image 有权使用2维图像的投射不变形状描述符的手/眼校准方法公开(公告)号：US20060095226A1
公开(公告)日：2006-05-04
申请号：US11300435
申请日：2005-12-15
申请人： Kyoung-sig Roh , Young Son , Joo-young Kwak
发明人： Kyoung-sig Roh , Young Son , Joo-young Kwak
CPC分类号： G06K9/6204 , B25J9/1692 , G01C11/00 , G05B2219/39045 , G05B2219/39057 , G06K9/209 , G06T7/80
摘要： Provided is a hand/eye calibration method by using a projective invariant shape descriptor of a two-dimensional image. The method includes calculating a projective invariant shape descriptor of a two-dimensional image from at least two images obtained by a camera mounted on a robot hand, at a predetermined time interval, extracting corresponding points between the images by using the projective invariant shape descriptor, calculating a rotation matrix for the corresponding points from translation of the robot hand, calculating translation vector for the corresponding points from translation and rotation of the robot hand, and finding a relation between the robot hand and the camera based on the rotation matrix and the translation vector.
摘要翻译： 提供了一种通过使用二维图像的投影不变形状描述符的手/眼校准方法。 该方法包括：以预定的时间间隔从安装在机器人手上的相机获得的至少两个图像中计算二维图像的投影不变形状描述符，通过使用投射不变形状描述符提取图像之间的对应点， 从机器人手的平移中计算相应点的旋转矩阵，从机器人手的平移和旋转中计算相应点的平移向量，以及基于旋转矩阵和平移来找到机器人手和摄像机之间的关系 向量。
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公开(公告)号：US20060077586A1
公开(公告)日：2006-04-13
申请号：US11245199
申请日：2005-10-07
申请人： Young Son , Cheol-soon Kim , Joo-young Kwak
发明人： Young Son , Cheol-soon Kim , Joo-young Kwak
IPC分类号： G11B15/46
CPC分类号： G11B19/28 , F16C17/243 , F16C2370/12 , H02K15/125 , H02P29/62
摘要： A spindle motor driving method and apparatus are provided. The method includes detecting the rotation speed of a spindle motor and heating a hard disc drive until the spindle motor reaches normal rotation speed. Accordingly, it is possible to enable the spindle motor to quickly reach the normal rotation speed by controlling the heating of the hard disc drive without using temperature and/or viscosity measurement sensors.
摘要翻译： 提供了一种主轴电动机驱动方法和装置。 该方法包括检测主轴电动机的转速并加热硬盘驱动器，直到主轴电机达到正常的转速。 因此，通过在不使用温度和/或粘度测量传感器的情况下控制硬盘驱动器的加热，可以使主轴电机快速达到正常转速。
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公开(公告)号：US20050187669A1
公开(公告)日：2005-08-25
申请号：US11000426
申请日：2004-12-01
申请人： Joo-young Kwak , Yong-kwun Lee , Young Son , Chang-hyun Roh
发明人： Joo-young Kwak , Yong-kwun Lee , Young Son , Chang-hyun Roh
CPC分类号： B62D57/032 , B25J9/1638 , B25J9/1651
摘要： A method of controlling vibration of a moving system having driving and driven units includes measuring an acceleration of the driven unit, generating a nominal acceleration by subtracting gravity from the measured acceleration, generating a control driving force according to the nominal acceleration, the driving force having a direction opposite to that of the measured acceleration, and applying the control driving force to the driven unit.
摘要翻译： 一种控制具有驱动和驱动单元的移动系统的振动的方法包括测量从动单元的加速度，通过从所测量的加速度中减去重力来产生标称加速度，产生根据标称加速度的控制驱动力，驱动力具有 与所测量的加速度相反的方向，并将控制驱动力施加到从动单元。
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5.发明授权Landmark, apparatus, and method for effectively determining position of autonomous vehicles 有权有效确定自主车辆位置的地标，仪器和方法公开(公告)号：US07333631B2
公开(公告)日：2008-02-19
申请号：US10428791
申请日：2003-05-05
申请人： Kyoung-sig Roh , Young Son , Ki-cheol Park , Joo-young Kwak
发明人： Kyoung-sig Roh , Young Son , Ki-cheol Park , Joo-young Kwak
CPC分类号： G06K9/00664 , G06K9/48 , G06K9/52 , G06K2209/29
摘要： A landmark used to effectively determine the location of an autonomous vehicle, and a self-localization apparatus and method using the landmark are provided. In the self-localization method, first, first and second outer line information and shape information are extracted from a landmark image received from a camera. Next, a projective invariant is calculated from the shape information and stored in a hash table. Thereafter, the calculated projective invariant is compared with reference projective invariants for a plurality of landmarks stored in a predetermined data storage area in the form of a hash table, thereby determining which landmark corresponds to the landmark image. Then, information on the distance and orientation of the determined landmark with respect to the autonomous vehicle is analyzed in response to the first and second outer line information.
摘要翻译： 提供了用于有效地确定自主车辆的位置的地标，以及使用该地标的自定位装置和方法。 在自定位方法中，从从相机接收的地标图像中提取第一，第二和第二外线信息和形状信息。 接下来，根据形状信息计算投影不变量并存储在散列表中。 此后，将所计算的投影不变量与以散列表的形式存储在预定数据存储区域中的多个地标的参考投影不变量进行比较，由此确定哪个地标对应于地标图像。 然后，响应于第一和第二外线信息分析关于自主车辆的所确定的地标的距离和方位的信息。
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公开(公告)号：US07303031B2
公开(公告)日：2007-12-04
申请号：US11092747
申请日：2005-03-30
申请人： Leonid Maslov , Yonng Son , Joo-young Kwak
发明人： Leonid Maslov , Yonng Son , Joo-young Kwak
IPC分类号： B62D51/06
CPC分类号： B25J19/0091
摘要： Provided is an anthropomorphic robot having two legs and which is capable of walking upright. Each of the two legs has a foot which comprises an upper plate on which an ankle joint is installed and which is similar to a foot of a human, and a lower plate attached to a lower surface of the upper plate and having a plurality of contact portions which contact a ground and which are separated from one another.
摘要翻译： 提供了一种具有两条腿并且能够直立行走的拟人机器人。 两个腿中的每一个都具有脚，其包括上板，踝关节安装在其上并且类似于人的脚，下板附接到上板的下表面并且具有多个接触 接触地面并彼此分离的部分。
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7.发明授权公开(公告)号：US07151853B2
公开(公告)日：2006-12-19
申请号：US11300435
申请日：2005-12-15
申请人： Kyoung-sig Roh , Young Son , Joo-young Kwak
发明人： Kyoung-sig Roh , Young Son , Joo-young Kwak
CPC分类号： G06K9/6204 , B25J9/1692 , G01C11/00 , G05B2219/39045 , G05B2219/39057 , G06K9/209 , G06T7/80
摘要： Provided is a hand/eye calibration method by using a projective invariant shape descriptor of a two-dimensional image. The method includes calculating a projective invariant shape descriptor of a two-dimensional image from at least two images obtained by a camera mounted on a robot hand, at a predetermined time interval, extracting corresponding points between the images by using the projective invariant shape descriptor, calculating a rotation matrix for the corresponding points from translation of the robot hand, calculating translation vector for the corresponding points from translation and rotation of the robot hand, and finding a relation between the robot hand and the camera based on the rotation matrix and the translation vector.
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8.发明授权Ground reaction force measuring module for walking robot and robot foot structure adopting the same 失效用于步行机器人的地面反作用力测量模块和采用相同的机器人脚结构公开(公告)号：US07059197B2
公开(公告)日：2006-06-13
申请号：US10435377
申请日：2003-05-12
申请人： Young Son , Yeon-taek Oh , Kyoung-sig Roh , Joo-young Kwak , Yong-kwun Lee
发明人： Young Son , Yeon-taek Oh , Kyoung-sig Roh , Joo-young Kwak , Yong-kwun Lee
IPC分类号： G01N3/08
CPC分类号： B62D57/02 , B62D57/032 , G01L1/22 , G01L5/161 , G01L5/226
摘要： A ground reaction force measuring module for a walking robot includes a housing installed at a predetermined portion of the walking robot facing the ground, a moving unit installed capable of moving with respect to the housing according to the presence of a pressing force to the ground transferred from the ground to the walking robot, and a compression sensor installed in the housing to measure a reaction force of the ground from the presence of the pressing force transferred through the moving unit. Thus, a change in the ground reaction force in a wide range can be stably coped with and the installation position of the robot foot can be easily changed.
摘要翻译： 用于步行机器人的地面反作用力测量模块包括：安装在步行机器人面向地面的预定部分的壳体;移动单元，其安装成能够根据存在压力的方式相对于壳体移动到被转移的地面 从地面到步行机器人，以及安装在壳体中的压缩传感器，用于测量由存在通过移动单元传递的按压力的地面的反作用力。 因此，可以稳定地应对大范围的地面反作用力的变化，并且可以容易地改变机器人脚的安装位置。
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公开(公告)号：US20050173164A1
公开(公告)日：2005-08-11
申请号：US11024815
申请日：2004-12-30
申请人： Leonid Maslov , Young Son , Joo-young Kwak
发明人： Leonid Maslov , Young Son , Joo-young Kwak
CPC分类号： B25J19/0091 , B25J13/085
摘要： Provided is a foot structure for a humanoid robot capable of effectively keeping its balance in a pause state or action. The foot structure includes a support; a plurality of lower structures having an upper member connected to a bottom of the support; a plurality of lower members having a plurality of independent portions each movably connected to the upper member; and a revolute joint for coupling the upper member and the lower member. Since a contact between the foot structure and the floor is smoothly made, a shock is prevented from being transferred to a body of the humanoid robot. Also, a vibration generated when the humanoid robot steps on the floor is eliminated, so that the humanoid robot can pose a stable and smooth gate.
摘要翻译： 提供了一种用于类人机器人的脚结构，其能够有效地将其平衡保持在暂停状态或动作。 足部结构包括支撑件; 多个下部结构，其具有连接到所述支撑件的底部的上部构件; 多个下部构件，具有多个独立部分，每个独立部分可移动地连接到上部构件; 以及用于联接上部构件和下部构件的旋转接头。 由于脚部结构与地板之间的接触顺利地进行，所以防止了冲击被传递到人形机器人的身体。 此外，当人形机器人踏在地板上时产生的振动被消除，使得类人形机器人能够形成稳定和平稳的门。
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公开(公告)号：US07497626B2
公开(公告)日：2009-03-03
申请号：US11257097
申请日：2005-10-25
申请人： Young Son , Jeong-seok Koh , Joo-young Kwak , Jae-hyuk Han
发明人： Young Son , Jeong-seok Koh , Joo-young Kwak , Jae-hyuk Han
CPC分类号： G11B19/2018 , F16C17/107 , F16C17/243 , F16C2370/12 , H02K5/1675 , H02K15/125
摘要： A spindle motor structure including a spindle motor installed on a base and having a hydrodynamic bearing supporting a shaft to be capable of rotating using hydrodynamic pressure and a driving source rotating the shaft using an electromagnetic force. A circuit board is installed to face the base and supplies driving power to the driving source. A heater is installed on the circuit board at a position facing the hydrodynamic bearing and heats the hydrodynamic bearing.
摘要翻译： 一种主轴电动机结构，包括安装在基座上的主轴电动机，并且具有支撑轴的流体动力轴承，以便能够使用流体动力学压力旋转;以及驱动源，其使用电磁力旋转轴。 电路板安装成面向基座并向驱动源提供驱动电源。 加热器安装在电路板上面对流体动力轴承的位置，并加热流体动力轴承。
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