公开(公告)号：US20190041276A1

公开(公告)日：2019-02-07

申请号：US15564091

申请日：2017-04-20

Applicant: DAEGU GYEONGBUK INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Sehoon OH ,  Chan LEE

IPC: G01L1/04 ,  F16H19/04 ,  H02K7/06 ,  F16H1/28 ,  F16H55/18 ,  H02K11/21

CPC classification number: G01L1/048 ,  F16H1/28 ,  F16H1/2863 ,  F16H19/04 ,  F16H55/18 ,  F16H57/08 ,  H02K7/06 ,  H02K7/116 ,  H02K11/21 ,  H02K11/24

Abstract: Provided is an elastically actuating device including an actuator configured to generate a rotary force, a gear part connected to the actuator and configured to transfer the rotary force from the actuator to an outside, and an elastic member including one end fastened to a ground and the other end connected to the gear part, and an elastic member including one end fastened to a ground and another end connected to the gear part, disposed outside the actuator to cover the actuator from the one end to the other end, and deformed in response to the gear part rotating relative to the actuator.

公开(公告)号：US20250162144A1

公开(公告)日：2025-05-22

申请号：US18442344

申请日：2024-02-15

Applicant: NAU ROBOTICS CO., LTD ,  DAEGU GYEONGBUK INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Sehoon OH ,  Kangwagye SAMUEL ,  Bumgil KIM ,  Kunkook LEE

IPC: B25J9/16 ,  B25J13/08

Abstract: The present disclosure relates to a task space outer-loop integrated disturbance observer, and a robot including the same. The task space outer-loop integrated disturbance observer is implemented on an outside of a position and velocity control loop in a task space, and the task space outer-loop integrated disturbance observer acquires a disturbance estimate value by integrating a velocity command value, measured velocity value, an inverse model of velocity control system, and a measured force/torque sensor (F/T sensor) value. The disturbance estimate value is expressed in Equation 1: {circumflex over (D)}v(s)=Q(s)[n−1(s)m(s)−i(s)]+A(s)[1−Q(s)]m(s) wherein {circumflex over (D)}v(s) is the disturbance estimate value, Q(s) is a “Q” filter, Dn(s) is a nominal model, Vm(s) is a measured velocity value, and Vi(s) is a velocity command value, A(s) is an admittance target value, and Fm(s) is a measured force value.