公开(公告)号：US20210364478A1

公开(公告)日：2021-11-25

申请号：US17096092

申请日：2020-11-12

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Youngsu CHA ,  Jae Hoon CHUNG ,  Yonghwan OH

IPC: G01N29/24 ,  G06K9/00 ,  G01N29/11

Abstract: The present disclosure provides an object recognition apparatus, which includes: an actuator unit configured to contact an object and generate vibrations and transmit them through objects based on the inherent characteristic of the object; and a sensor unit connected to the actuator unit to receive the vibration and generate a voltage signal.

公开(公告)号：US20200016740A1

公开(公告)日：2020-01-16

申请号：US16463117

申请日：2017-03-29

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Jongwoo LEE ,  Yonghwan OH

IPC: B25J9/00 ,  B25J9/16 ,  B25J13/08

Abstract: A method for modeling a robot simplified for stable walking control of a bipedal robot provides a robot model that is simplified as a virtual pendulum model including a virtual body, two virtual legs connected to the body at a virtual pivot point (VPP) that is set at a position higher than the center of mass (CoM) of the body, and virtual feet connected to the two legs, respectively, to step on the ground. A ground reaction force, which acts on the two legs, acts towards the VPP, thereby providing a restoring moment with respect to the CoM such that stabilization of the posture of the body naturally occurs.

公开(公告)号：US20150367518A1

公开(公告)日：2015-12-24

申请号：US14735519

申请日：2015-06-10

Applicant: Korea Institute of Science and Technology

Inventor： Yonghwan OH ,  Dong-hyun LEE

IPC: B25J19/00 ,  B25J9/16

CPC classification number: B25J9/1674 ,  B25J9/1692 ,  G05B2219/39194 ,  Y10S901/02

Abstract: A control system of a robot keeps an entire posture of a robot not fixed to the ground. The robot includes a body having a plurality of joints and motors mounted to a plurality of limbs and the joints, and the entire posture is maintained by controlling a center of mass (COM) of the robot. The limbs include a robot arm with an end-effector. When a target position of the end-effector (hereinafter, a “target end-effector position”) is input, a target position of the center of mass (hereinafter, a “target COM position”) is calculated using the target end-effector position. The motors mounted to the joints are operated so that the end-effector and the center of mass of the robot move according to the target end-effector position and the target COM position. The target COM position varies in proportion to the change of the target end-effector position.

Abstract translation: 机器人的控制系统保持机器人的整个姿势不固定在地面上。 机器人包括具有多个关节和安装到多个肢体和关节的马达的主体，并且通过控制机器人的质心（COM）来维持整个姿势。 肢体包括具有末端执行器的机器人手臂。 当输入末端执行器（以下称为“目标末端执行器位置”）的目标位置时，使用目标末端执行器来计算质量中心的目标位置（以下称为“目标COM位置”）） 位置。 操作安装在接头上的电动机，使得机器人的末端执行器和质心按照目标末端执行器位置和目标COM位置移动。 目标COM位置与目标末端执行器位置的变化成比例地变化。