公开(公告)号：US20240077892A1

公开(公告)日：2024-03-07

申请号：US18122514

申请日：2023-03-16

Applicant: Electronics and Telecommunications Research Institute

Inventor： Wookyong KWON ,  Dongyeop KANG ,  Chan Eun PARK ,  Jaemin BAEK ,  Seungcheon SHIN

IPC: G05D15/01

CPC classification number: G05D15/01

Abstract: Provided is an invention capable of securing versatility and precision in admittance control and enabling target force control on a surface of an object having a different property, in which a mutual contact force-based compensation method is used in the existing admittance control method to output a target force. To this end, the present disclosure provides a compensation algorithm that changes according to a mutual contact force with an object having a different physical property and mass-spring-damper parameters using data acquired while controlling a force input from a robot is provided. In addition, the present disclosure automatically performs tuning on coefficients related to a factor of a robot force control based on data obtained by executing a mutual contact force-based compensation in the conventional admittance control.

公开(公告)号：US20240123612A1

公开(公告)日：2024-04-18

申请号：US18170923

申请日：2023-02-17

Applicant: ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE

Inventor： Wookyong KWON ,  Yongsik JIN ,  Dongyeop KANG ,  Seung Woo NAM ,  Jeyoun DONG

IPC: B25J9/16 ,  B25J5/00 ,  B25J9/00 ,  B25J19/00

CPC classification number: B25J9/161 ,  B25J5/007 ,  B25J9/0009 ,  B25J19/002

Abstract: Provided is a mobile manipulator for performing a target motion, which includes a base unit configured to perform a positional shift and having a rail in some section thereof, and an arm unit including multi-joints and configured to perform a positional shift on the rail in consideration of a center of gravity when performing a target motion. The arm unit performs the target motion through adaptive neural network-based compensation control.

公开(公告)号：US20210278848A1

公开(公告)日：2021-09-09

申请号：US17188688

申请日：2021-03-01

Applicant: Electronics and Telecommunications Research Institute

Inventor： Su Yong AN ,  Hea-Min LEE ,  Dongyeop KANG ,  Wookyong KWON ,  Song LI ,  Ki Young MOON ,  Yun Su CHUNG

IPC: G05D1/02 ,  G05D1/00 ,  G01S17/89

Abstract: A method and an apparatus for recognition a position and generating a path for autonomous driving of a mobile robot in an orchard environment are provided. The method converts three-dimensional (3D) point cloud data for the orchard environment into a 2D grid map, obtains a position of the mobile robot by performing local scan matching and global scan matching on the 2D grid map, and extracts a tree from the 2D grid map based on occupancy of each grid of the 2D grid map. Then, an effective line based on center points of extracted trees is obtained, a destination based on the obtained effective line is generated, and a driving path according to the generated destination and the position of the mobile robot is generated.