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    Robot and control method thereof
    1.
    发明授权
    Robot and control method thereof 有权
    机器人及其控制方法

    公开(公告)号：US08824775B2

    公开(公告)日：2014-09-02

    申请号：US12654160

    申请日：2009-12-11

    申请人： Suk June Yoon ,  Kyung Shik Roh ,  Woong Kwon ,  Seung Yong Hyung ,  Hyun Kyu Kim ,  Sung Hwan Ahn

    发明人： Suk June Yoon ,  Kyung Shik Roh ,  Woong Kwon ,  Seung Yong Hyung ,  Hyun Kyu Kim ,  Sung Hwan Ahn

    IPC分类号： G06K9/00

    CPC分类号： G06T7/248 ,  G06T7/55 ,  G06T2207/10016 ,  G06T2207/10028

    摘要： Disclosed herein are a feature point used to localize an image-based robot and build a map of the robot and a method of extracting and matching an image patch of a three-dimensional (3D) image, which is used as the feature point. It is possible to extract the image patch converted into the reference image using the position information of the robot and the 3D position information of the feature point. Also, it is possible to obtain the 3D surface information with the brightness values of the image patches to obtain the match value with the minimum error by a 3D surface matching method of matching the 3D surface information of the image patches converted into the reference image through the ICP algorithm.

    摘要翻译： 这里公开的是用于本地化基于图像的机器人并构建机器人的映射的特征点以及用于提取和匹配用作特征点的三维（3D）图像的图像块的方法。 可以使用机器人的位置信息和特征点的3D位置信息来提取转换为参考图像的图像块。 另外，可以利用图像斑块的亮度值获得3D表面信息，以通过3D图像匹配方法获得具有最小误差的匹配值，该3D表面匹配方法通过匹配转换成参考图像的图像斑块的3D表面信息 ICP算法。

    Robot and control method thereof
    2.
    发明申请
    Robot and control method thereof 有权
    机器人及其控制方法

    公开(公告)号：US20100172571A1

    公开(公告)日：2010-07-08

    申请号：US12654160

    申请日：2009-12-11

    申请人： Suk June Yoon ,  Kyung Shik Roh ,  Woong Kwon ,  Seung Yong Hyung ,  Hyun Kyu Kim ,  Sung Hwan Ahn

    发明人： Suk June Yoon ,  Kyung Shik Roh ,  Woong Kwon ,  Seung Yong Hyung ,  Hyun Kyu Kim ,  Sung Hwan Ahn

    IPC分类号： G06K9/00

    CPC分类号： G06T7/248 ,  G06T7/55 ,  G06T2207/10016 ,  G06T2207/10028

    摘要： Disclosed herein are a feature point used to localize an image-based robot and build a map of the robot and a method of extracting and matching an image patch of a three-dimensional (3D) image, which is used as the feature point. It is possible to extract the image patch converted into the reference image using the position information of the robot and the 3D position information of the feature point. Also, it is possible to obtain the 3D surface information with the brightness values of the image patches to obtain the match value with the minimum error by a 3D surface matching method of matching the 3D surface information of the image patches converted into the reference image through the ICP algorithm.

    摘要翻译： 这里公开的是用于本地化基于图像的机器人并构建机器人的映射的特征点以及用于提取和匹配用作特征点的三维（3D）图像的图像块的方法。 可以使用机器人的位置信息和特征点的3D位置信息来提取转换为参考图像的图像块。 另外，可以利用图像斑块的亮度值获得3D表面信息，以通过3D图像匹配方法获得具有最小误差的匹配值，该3D表面匹配方法将经过参考图像转换成参考图像的图像斑块的3D表面信息匹配 ICP算法。

    Walking robot and method of controlling the same
    3.
    发明申请
    Walking robot and method of controlling the same 审中-公开
    步行机器人及其控制方法

    公开(公告)号：US20090299523A1

    公开(公告)日：2009-12-03

    申请号：US12382059

    申请日：2009-03-06

    申请人： Hyun Kyu Kim ,  Woong Kwon ,  Suk June Yoon ,  Kyung Shik Roh

    发明人： Hyun Kyu Kim ,  Woong Kwon ,  Suk June Yoon ,  Kyung Shik Roh

    IPC分类号： G06F19/00

    CPC分类号： B62D57/032

    摘要： Disclosed are a biped walking robot, which carries out walking with a high energy efficiency through adjustment of the stiffnesses of joints of legs and improves walking stability through control of the pose of a torso, and a method of controlling the walking robot. The method includes generating a walking pattern of plural legs connected to a torso of the walking robot; adjusting stiffness of each of the plural legs interlocking with walking phases of the plural legs driven according to the walking pattern; and measuring a tilt of the torso, and compensating for the tilt of the torso such that the torso is parallel with the gravity direction.

    摘要翻译： 公开了一种双足步行机器人，其通过调节腿部关节的刚度而以高能量效率进行行走，并且通过控制躯干的姿势来提高步行稳定性，以及控制步行机器人的方法。 该方法包括生成与步行机器人的躯体连接的多条腿的步行图案; 调节与根据步行图案驱动的多个腿的行走相互联动的多个腿中的每一个的刚度; 并测量躯干的倾斜，并且补偿躯干的倾斜，使得躯干与重力方向平行。

    Robot and method of building map therefor
    5.
    发明授权
    Robot and method of building map therefor 有权
    机器人和建立地图的方法

    公开(公告)号：US08761925B2

    公开(公告)日：2014-06-24

    申请号：US12289274

    申请日：2008-10-23

    申请人： Sukjune Yoon ,  Woong Kwon ,  Seung Yong Hyung ,  Hyun Kyu Kim ,  Kyung Shik Roh

    发明人： Sukjune Yoon ,  Woong Kwon ,  Seung Yong Hyung ,  Hyun Kyu Kim ,  Kyung Shik Roh

    IPC分类号： G06F19/00

    CPC分类号： B25J9/1666 ,  G05B2219/40442

    摘要： Disclosed are a robot, which builds a map using a surface data of a three-dimensional image, from which a dynamic obstacle is removed, and a method of building a map for the robot. The method includes sequentially acquiring first and second surface data of a route on which the robot moves; matching the first and second surface data with each other to calculate a difference between the first and second surface data; detecting a dynamic obstacle from the first and second surface data according to the difference between the first and second surface data; generating a third surface data by removing the dynamic obstacle from at least one of the first and second surface data; and matching the third surface data and any one of the first and second surface data with each other to build the map.

    摘要翻译： 公开了一种机器人，其使用去除了动态障碍物的三维图像的表面数据构建地图以及用于构建机器人的地图的方法。 该方法包括顺序地获取机器人移动的路线的第一和第二表面数据; 将第一和第二表面数据彼此匹配以计算第一和第二表面数据之间的差异; 根据第一和第二表面数据之间的差异，从第一和第二表面数据中检测动态障碍物; 通过从第一和第二表面数据中的至少一个去除动态障碍物来产生第三表面数据; 并且将第三表面数据和第一和第二表面数据中的任何一个彼此匹配以构建地图。

    Robot and method of building map therefor
    7.
    发明申请
    Robot and method of building map therefor 有权
    机器人和建立地图的方法

    公开(公告)号：US20090276092A1

    公开(公告)日：2009-11-05

    申请号：US12289274

    申请日：2008-10-23

    申请人： Sukjune Yoon ,  Woong Kwon ,  Seung Yong Hyung ,  Hyun Kyu Kim ,  Kyung Shik Roh

    发明人： Sukjune Yoon ,  Woong Kwon ,  Seung Yong Hyung ,  Hyun Kyu Kim ,  Kyung Shik Roh

    IPC分类号： G06F19/00

    CPC分类号： B25J9/1666 ,  G05B2219/40442

    摘要： Disclosed are a robot, which builds a map using a surface data of a three-dimensional image, from which a dynamic obstacle is removed, and a method of building a map for the robot. The method includes sequentially acquiring first and second surface data of a route on which the robot moves; matching the first and second surface data with each other to calculate a difference between the first and second surface data; detecting a dynamic obstacle from the first and second surface data according to the difference between the first and second surface data; generating a third surface data by removing the dynamic obstacle from at least one of the first and second surface data; and matching the third surface data and any one of the first and second surface data with each other to build the map.

    摘要翻译： 公开了一种机器人，其使用去除了动态障碍物的三维图像的表面数据构建地图以及用于构建机器人的地图的方法。 该方法包括顺序地获取机器人移动的路线的第一和第二表面数据; 将第一和第二表面数据彼此匹配以计算第一和第二表面数据之间的差异; 根据第一和第二表面数据之间的差异，从第一和第二表面数据中检测动态障碍物; 通过从第一和第二表面数据中的至少一个去除动态障碍物来产生第三表面数据; 并且将第三表面数据和第一和第二表面数据中的任何一个彼此匹配以构建地图。

    Robot arm and method of controlling the same
    10.
    发明申请
    Robot arm and method of controlling the same 有权
    机器人手臂及其控制方法

    公开(公告)号：US20100141197A1

    公开(公告)日：2010-06-10

    申请号：US12588691

    申请日：2009-10-23

    申请人： Kyung Won Moon ,  Kyung Shik Roh ,  Jong Do Choi ,  Hyun Kyu Kim

    发明人： Kyung Won Moon ,  Kyung Shik Roh ,  Jong Do Choi ,  Hyun Kyu Kim

    IPC分类号： G05B9/02

    CPC分类号： B25J9/1638 ,  G05B2219/39194 ,  G05B2219/40264

    摘要： Disclosed are a robot arm having high back-drivability to interact with a human being, which is safely stopped, and a method of controlling the robot arm. When the operation of the robot arm having high back-drivability to interact with a human being is converted into a safety mode due to the occurrence of an emergency, in which the operation of the robot arm is stopped, only a torque having a degree to compensate for gravity applied to the robot arm, i.e., only a torque to maintain the kinematical position of the current state of the robot arm without falling of the robot arm due to gravity, is outputted to control the robot arm as if the robot arm is in a weightless state, thus being capable of safely stopping the robot arm. Thereby, a user can easily move the robot arm and thus safely escape from the robot arm, and it is possible to prevent the falling of the robot arm due to gravity and thus to protect devices of the robot arm and peripheral environment around the robot arm.

    摘要翻译： 公开了一种机器人臂，其具有高的后驾驶性能，与人类相互作用，其被安全地停止，以及控制机器人手臂的方法。 当机器人臂具有高反向驾驶性能与人相互作用的操作由于出现紧急情况而被转换为安全模式，其中机器人手臂的操作停止时，仅具有一定程度的扭矩 补偿施加到机器人手臂的重力，即，仅输出维持机器人手臂的当前状态的运动学位置而不会因重力而使机器人手臂下降的扭矩，以控制机器人手臂，就好像机器人臂是 在失重状态下，能够安全地停止机器人手臂。 由此，使用者能够容易地移动机器人手臂，从而可以安全地从机器人臂逃逸，并且能够防止机器人臂因重力而坠落，从而保护机器人手臂的装置和机器人臂周围的环境 。