公开(公告)号：US08894117B1

公开(公告)日：2014-11-25

申请号：US14247936

申请日：2014-04-08

Applicant: Korea Institute of Science and Technology

Inventor： Seyoung Cheon ,  Yonghwan Oh

IPC: B25J15/08 ,  B25J15/02

CPC classification number: B25J15/0213 ,  B25J9/102 ,  B25J15/0009

Abstract: A robot finger driving module is driven by a driving motor installed in a robot hand. The robot finger driving module receives a driving force of the driving motor by a pulley gear connected to the driving motor through a driving belt. When the robot finger driving module is fixed, a driving direction of a first output gear is opposite to a rotation-driving direction of a second output gear. When the robot finger driving module rotates, even though any one of the first output gear and the second output gear is fixed, the other is driven to rotate in the rotating direction of the robot finger driving module, thereby exhibiting differential gear characteristics.

Abstract translation: 机器人手指驱动模块由安装在机器人手中的驱动马达驱动。 机器人手指驱动模块通过驱动马达通过驱动带连接到驱动马达的滑轮齿轮来接收驱动马达的驱动力。 当机器人手指驱动模块固定时，第一输出齿轮的驱动方向与第二输出齿轮的旋转驱动方向相反。 当机器人手指驱动模块旋转时，即使第一输出齿轮和第二输出齿轮中的任一个固定，另一个被驱动以在机器人手指驱动模块的旋转方向上旋转，从而表现出差速齿轮特性。

公开(公告)号：US11609211B2

公开(公告)日：2023-03-21

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 ,  G01N29/11 ,  B25J13/08

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：US11253993B2

公开(公告)日：2022-02-22

申请号：US16463117

申请日：2017-03-29

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Jongwoo Lee ,  Yonghwan Oh

IPC: B25J9/16 ,  B25J9/00 ,  B25J13/08 ,  B62D57/032

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：US20190232490A1

公开(公告)日：2019-08-01

申请号：US16165413

申请日：2018-10-19

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Jung Hoon KIM ,  Yonghwan Oh

IPC: B25J9/16 ,  B62D57/032

CPC classification number: B25J9/1633 ,  B62D57/032

Abstract: A system for balance control of a humanoid includes a control input generation unit which determines Zero Momentum Position (ZMP) of the humanoid with respect to ground, and a control output generation unit which determines Center of Mass (CoM) position and velocity of the humanoid, wherein the control input generation unit and the control output generation unit determine the ZMP and the CoM position and velocity, respectively, by applying a discrete-time dynamics equation sampled by applying a non-pathological sampling frequency.

公开(公告)号：US10987805B2

公开(公告)日：2021-04-27

申请号：US16165413

申请日：2018-10-19

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Jung Hoon Kim ,  Yonghwan Oh

IPC: B25J9/00 ,  B25J9/16 ,  B62D57/032

Abstract: A system for balance control of a humanoid includes a control input generation unit which determines Zero Momentum Position (ZMP) of the humanoid with respect to ground, and a control output generation unit which determines Center of Mass (CoM) position and velocity of the humanoid, wherein the control input generation unit and the control output generation unit determine the ZMP and the CoM position and velocity, respectively, by applying a discrete-time dynamics equation sampled by applying a non-pathological sampling frequency.

公开(公告)号：US10082875B1

公开(公告)日：2018-09-25

申请号：US15687152

申请日：2017-08-25

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Jaeha Kim ,  Jaeyoung Park ,  Yonghwan Oh

IPC: G06F3/01

CPC classification number: G06F3/016 ,  G06F3/011 ,  G06F3/014 ,  G06F3/0416 ,  G06F2203/04101

Abstract: An apparatus for generating tactile stimulation includes vibration actuators disposed on opposing sides of a finger, and a sensor configured to detect a position and a pointing direction of the finger, wherein the vibration actuators apply vibration to the finger with intensity and duration determined by the position and the pointing direction of the finger detected by the sensor, and wherein illusory stimulation is generated within the finger by the vibration generated by the vibration actuators.