公开(公告)号：US20110033904A1

公开(公告)日：2011-02-10

申请号：US12937876

申请日：2008-04-25

申请人： Jun Seong Park ,  Hye Yoon Park ,  Ho Sik Rho ,  Duck Hee Kim ,  Ih Seop Chang ,  Byung Gee Kim ,  Chang Hyun Roh ,  Su Hyun Seo ,  Kwon Young Choi ,  June Hyung Kim ,  Min-Ho Cha ,  Prasad Pandey Bishnu

发明人： Jun Seong Park ,  Hye Yoon Park ,  Ho Sik Rho ,  Duck Hee Kim ,  Ih Seop Chang ,  Byung Gee Kim ,  Chang Hyun Roh ,  Su Hyun Seo ,  Kwon Young Choi ,  June Hyung Kim ,  Min-Ho Cha ,  Prasad Pandey Bishnu

IPC分类号： C12P17/06

CPC分类号： C12P17/06 ,  C12N1/20

摘要： Disclosed herein is a method for preparing ortho-dihydroxyisoflavones using a biotransformation system. More specifically, disclosed is a method for preparing ortho-dihydroxyisoflavones, which comprises biotransforming daidzein or genistein by actinomycete microorganisms, particularly Streptomyces avermitilis, Nocardia farcinica or Streptomyces lincolnesis, in order to efficiently prepare ortho-dihydroxyisoflavones having an excellent antioxidant function and a whitening effect.

摘要翻译： 本文公开了使用生物转化体系制备邻二羟基异黄酮的方法。 更具体地，公开了一种制备邻二羟基异黄酮的方法，其包括通过放线菌微生物，特别是阿维链霉素（Streptomyces avermitilis），诺卡氏菌（Nocardia farcinica）或林链霉菌（Streptomyces lincolnesis））生物转化黄豆苷原或染料木黄酮，以有效制备具有优异抗氧化功能和增白效果的邻二羟基异黄酮 。

公开(公告)号：US08509948B2

公开(公告)日：2013-08-13

申请号：US12382132

申请日：2009-03-09

申请人： Chang Hyun Roh ,  Woong Kwon

发明人： Chang Hyun Roh ,  Woong Kwon

IPC分类号： G06F19/00

CPC分类号： B62D57/032

摘要： Disclosed are a walking robot and a method of controlling the same, in which impedance control and torso tilt control are achieved complementarily such that impedance can be adjusted according to the tilt of a torso or the tilt of the torso can be adjusted according to the impedance. The method includes measuring a moment of a foot; measuring a tilt of a torso; adjusting the scale of the measured moment based on the tilt of the torso, and controlling the foot based on the scale-adjusted moment; and adjusting the scale of the measured tilt based on a ZMP variation amount of the foot, and controlling the tilt of the torso based on the scale-adjusted ZMP variation amount.

公开(公告)号：US20090319082A1

公开(公告)日：2009-12-24

申请号：US12427009

申请日：2009-04-21

申请人： Woong KWON ,  Joong Kyung Park ,  Chang Hyun Roh ,  Jae Ho Park ,  Ho Seong Kwak

发明人： Woong KWON ,  Joong Kyung Park ,  Chang Hyun Roh ,  Jae Ho Park ,  Ho Seong Kwak

IPC分类号： G05B19/04

CPC分类号： B62D57/032

摘要： A method of controlling walking a biped robot to generate a walking pattern maximally similar to that of a human includes generating a walking pattern, calculating a walking pattern similarity corresponding to the walking pattern, and comparing the walking pattern similarity with a predetermined reference pattern similarity, and changing the walking pattern based on a result of the comparison. When the robot walks, a knee is maximally stretched and a horizontal movement of a waist is minimized such that the walking pattern of the robot is maximally similar to that of a human, thus enhancing an affinity for a human being and increasing energy efficiency.

摘要翻译： 控制步行二足动物机器人以产生最大程度上类似于人类的行走图案的方法包括：生成行走图案，计算与行走图案相对应的步行图案相似度，以及将步行图案相似度与预定参考图案相似度进行比较， 并根据比较结果改变行走模式。 当机器人行走时，膝盖被最大程度地拉伸，并且腰部的水平运动被最小化，使得机器人的行走模式与人的行走模式最大程度上相似，从而增强了对人的亲和力并提高了能量效率。

公开(公告)号：US08892257B2

公开(公告)日：2014-11-18

申请号：US12654071

申请日：2009-12-09

申请人： Chang Hyun Roh

发明人： Chang Hyun Roh

IPC分类号： G05B15/00 ,  B62D57/02 ,  B62D57/032 ,  B25J13/08 ,  B25J9/00 ,  B25J13/00

CPC分类号： B62D57/032 ,  B25J13/085 ,  Y10S901/01

摘要： Disclosed is a method of absorbing an impact generated when a foot of a walking robot lands on the ground to perform the walking of the walking robot. When the foot of the walking robot lands on the ground, an F/T sensor installed on the sole or the ankle of the foot measures external force and the posture of the sole of the foot is adjusted in a direction of complying with the external force, and thus an impact transmitted to the walking robot in landing is absorbed. Further, the posture adjusting speed of the sole of the foot is adjusted according to walking speeds (stopped, walking, running).

摘要翻译： 公开了一种吸收步行机器人的脚踏在地面上产生的冲击以执行步行机器人步行的方法。 当步行机器人的脚踏在地面上时，安装在鞋底或脚踝上的F / T传感器测量外力，并且在符合外力的方向上调节脚底的姿势 因此，在着陆时传递给步行机器人的冲击被吸收。 此外，根据步行速度（停止，行走，行驶）来调节脚底的姿势调节速度。

公开(公告)号：US08676381B2

公开(公告)日：2014-03-18

申请号：US13006782

申请日：2011-01-14

申请人： Woong Kwon ,  Joong Kyung Park ,  Ju Suk Lee ,  Chang Hyun Roh ,  Min Hyung Lee ,  Jae Ho Park ,  Joo Hyang Kim ,  Ho Seong Kwak

发明人： Woong Kwon ,  Joong Kyung Park ,  Ju Suk Lee ,  Chang Hyun Roh ,  Min Hyung Lee ,  Jae Ho Park ,  Joo Hyang Kim ,  Ho Seong Kwak

IPC分类号： B25J17/00

CPC分类号： B62D57/032

摘要： A humanoid robot that achieves stable walking based on servo control of a joint torque and a walking control method thereof. The humanoid robot calculates a joint position trajectory compensation value and a joint torque compensation value using a measurement value of a sensor, compensates for a joint position trajectory and a joint torque using the calculated compensation value, and drives a motor mounted to each joint according to the compensated joint torque.

摘要翻译： 一种基于关节扭矩的伺服控制实现稳定行走的人形机器人及其步行控制方法。 类人形机器人使用传感器的测量值来计算关节位置轨迹补偿值和关节扭矩补偿值，使用计算出的补偿值来补偿关节位置轨迹和关节扭矩，并且驱动安装到每个关节的马达根据 补偿关节扭矩。

公开(公告)号：US20100168917A1

公开(公告)日：2010-07-01

申请号：US12654071

申请日：2009-12-09

申请人： Chang Hyun Roh

发明人： Chang Hyun Roh

IPC分类号： G05B15/00

CPC分类号： B62D57/032 ,  B25J13/085 ,  Y10S901/01

摘要： Disclosed is a method of absorbing an impact generated when a foot of a walking robot lands on the ground to perform the walking of the walking robot. When the foot of the walking robot lands on the ground, an F/T sensor installed on the sole or the ankle of the foot measures external force and the posture of the sole of the foot is adjusted in a direction of complying with the external force, and thus an impact transmitted to the walking robot in landing is absorbed. Further, the posture adjusting speed of the sole of the foot is adjusted according to walking speeds (stopped, walking, running).

摘要翻译： 公开了一种吸收步行机器人的脚踏在地面上产生的冲击以执行步行机器人步行的方法。 当步行机器人的脚踏在地面上时，安装在鞋底或脚踝上的F / T传感器测量外力，并且在符合外力的方向上调节脚底的姿势 因此，在着陆时传递给步行机器人的冲击被吸收。 此外，根据步行速度（停止，行走，行驶）来调节脚底的姿势调节速度。

公开(公告)号：US09221507B2

公开(公告)日：2015-12-29

申请号：US12427009

申请日：2009-04-21

申请人： Woong Kwon ,  Joong Kyung Park ,  Chang Hyun Roh ,  Jae Ho Park ,  Ho Seong Kwak

发明人： Woong Kwon ,  Joong Kyung Park ,  Chang Hyun Roh ,  Jae Ho Park ,  Ho Seong Kwak

IPC分类号： B62D57/032

CPC分类号： B62D57/032

摘要： A method of controlling walking a biped robot to generate a walking pattern maximally similar to that of a human includes generating a walking pattern, calculating a walking pattern similarity corresponding to the walking pattern, and comparing the walking pattern similarity with a predetermined reference pattern similarity, and changing the walking pattern based on a result of the comparison. When the robot walks, a knee is maximally stretched and a horizontal movement of a waist is minimized such that the walking pattern of the robot is maximally similar to that of a human, thus enhancing an affinity for a human being and increasing energy efficiency.

摘要翻译： 控制步行二足动物机器人以产生最大程度上类似于人类的行走图案的方法包括：生成行走图案，计算与行走图案相对应的步行图案相似度，以及将步行图案相似度与预定参考图案相似度进行比较， 并根据比较结果改变行走模式。 当机器人行走时，膝盖被最大程度地拉伸，并且腰部的水平运动被最小化，使得机器人的行走模式与人的行走模式最大程度上相似，从而增强了对人的亲和力并提高了能量效率。

公开(公告)号：US09104203B2

公开(公告)日：2015-08-11

申请号：US13275804

申请日：2011-10-18

申请人： Chang Hyun Roh

发明人： Chang Hyun Roh

IPC分类号： G05B19/04 ,  G05D1/02

CPC分类号： G05D1/0217 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0255 ,  G05D1/0274

摘要： A robot and a method for planning a path of the robot. The method includes storing coordinates of a base cell in a queue structure, setting a plurality of cells adjacent to the base cell as scan cells, calculating a movement direction of the robot from the base cell to each of the scan cells, calculating movement cost of each of the scan cells according to the calculated movement direction, comparing the calculated movement cost and movement cost previously stored in each of the scan cells and determining whether or not coordinates of each of the scan cells are stored in the queue structure, and repeatedly performing a process of recording the movement direction and the movement cost in each of the scan cells and building a map of the movement space of the robot if the coordinates of each of the scan cells are stored in the queue structure.

摘要翻译： 机器人和计划机器人路径的方法。 该方法包括将基本单元的坐标存储在队列结构中，将与基本单元相邻的多个单元设置为扫描单元，计算机器人从基本单元到每个扫描单元的运动方向，计算运动成本 根据计算出的移动方向的每个扫描单元，比较计算的移动成本和先前存储在每个扫描单元中的移动费用，并且确定每个扫描单元的坐标是否存储在队列结构中，并且重复执行 如果每个扫描单元的坐标存储在队列结构中，则记录每个扫描单元中的移动方向和移动成本并构建机器人的移动空间的映射的处理。