公开(公告)号：US20110172823A1

公开(公告)日：2011-07-14

申请号：US12986561

申请日：2011-01-07

Applicant: Joo Hyung KIM ,  Kyung Shik ROH ,  Woong KWON ,  Min Hyung LEE ,  Ju Suk LEE

Inventor： Joo Hyung KIM ,  Kyung Shik ROH ,  Woong KWON ,  Min Hyung LEE ,  Ju Suk LEE

IPC: B25J13/00

CPC classification number: B62D57/032

Abstract: A robot and a control method thereof may adjust a yaw moment generated from a foot contacting a ground to achieve stable walking of the robot. The robot, which may have an upper body and a lower body, may include a main controller starting walking of the robot through only motions of joints of the lower body and adjusting a motion of the upper body such that a yaw moment generated from a foot the lower body during walking of the robot is less than the maximum static frictional force of a ground to perform stable walking of the robot, and sub controllers driving actuators of the joints according to a control signal of the main controller.

Abstract translation: 机器人及其控制方法可以调节从脚接触地面产生的横摆力矩，以实现机器人的稳定行走。 可以具有上身和下身的机器人可以包括主控制器，其通过仅下身的关节的运动开始机器人的行走，并且调节上身的运动，使得从脚产生的横摆力矩 在机器人行走期间的下身小于机器人的稳定行走的地面的最大静摩擦力，并且副控制器根据主控制器的控制信号驱动关节的致动器。

公开(公告)号：US20120158175A1

公开(公告)日：2012-06-21

申请号：US13279633

申请日：2011-10-24

Applicant: Min Hyung LEE ,  Kyung Shik ROH ,  Woong KWON

Inventor： Min Hyung LEE ,  Kyung Shik ROH ,  Woong KWON

IPC: B25J9/18 ,  B25J17/00

CPC classification number: B62D57/032 ,  B25J9/162 ,  G05B2219/40244 ,  G05B2219/40264

Abstract: A walking robot and a control method thereof. The control method includes storing angle change data according to time corresponding to at least one joint unit of the robot using human walking data, extracting reference knot points from the angle change data according to time, and generating a reference walking trajectory using the extracted reference knot points, calculating a walking change factor to perform change between walking patterns of the robot, generating a target walking trajectory through an arithmetic operation between the reference walking trajectory and the calculated walking change factor, calculating a control torque to track the generated target walking trajectory, and transmitting the calculated control torque to the at least one joint unit so as to control walking of the robot, thereby achieving various walking patterns through a comparatively simple arithmetic operation process.

Abstract translation: 一种步行机器人及其控制方法。 所述控制方法包括根据与所述机器人的至少一个关节单元对应的时间，使用人体行走数据来存储角度变化数据，根据时间从所述角度变化数据中提取参考点，并使用所述提取的参考节点生成参考步行轨迹 计算行走变化因子，以在机器人的行走模式之间进行变化，通过参考步行轨迹和计算出的行走变化因子之间的算术运算产生目标步行轨迹，计算跟踪产生的目标步行轨迹的控制扭矩， 并将计算出的控制转矩发送到至少一个关节单元，以便控制机器人的行走，从而通过相对简单的算术运算处理来实现各种行走模式。

公开(公告)号：US20120083922A1

公开(公告)日：2012-04-05

申请号：US13249950

申请日：2011-09-30

Applicant: Ho Seong KWAK ,  Kyung Shik ROH ,  Woong KWON ,  Min Hyung LEE ,  Joo Hyung KIM

Inventor： Ho Seong KWAK ,  Kyung Shik ROH ,  Woong KWON ,  Min Hyung LEE ,  Joo Hyung KIM

IPC: B25J11/00

CPC classification number: B62D57/032 ,  Y10S901/01

Abstract: A walking robot and a control method in which conversion between walking servo control methods is stably carried out. The walking robot includes a sensor unit to measure angles and torques of joints, and a control unit to calculate voltages applied in a Finite State Machine (FSM) control mode and a Zero Moment Point (ZMP) control mode according to the angles and torques of the joints to drive respective joint motors, to store last target joint angles in the FSM control mode during conversion from the FSM control mode to the ZMP control mode, and to perform a motion based on the FSM control mode by substituting the last target joint angles in the FSM control mode for target joint angles in the FSM control mode during conversion from the ZMP control mode to the FSM control mode, thereby performing stable conversion between walking servo control modes without joint sagging.

Abstract translation: 一种行走机器人和其中稳定执行步行伺服控制方法之间的转换的控制方法。 行走机器人包括用于测量关节角度和扭矩的传感器单元，以及控制单元，用于根据角度和转矩的角度和转矩来计算在有限状态机（FSM）控制模式和零点（ZMP）控制模式中施加的电压 在从FSM控制模式到ZMP控制模式的转换期间，驱动各个关节电动机的关节，以在FSM控制模式下存储最后的目标关节角度，并且通过代替最后的目标关节角度来执行基于FSM控制模式的运动 在FSM控制模式下，在从ZMP控制模式转换到FSM控制模式时，在FSM控制模式下的目标关节角度，从而在没有关节下垂的步行伺服控制模式之间进行稳定的转换。

公开(公告)号：US20120165983A1

公开(公告)日：2012-06-28

申请号：US13293465

申请日：2011-11-10

Applicant: Jae Ho PARK ,  Kyung Shik ROH ,  Woong KWON ,  Joo Hyung KIM ,  Ju Suk LEE

Inventor： Jae Ho PARK ,  Kyung Shik ROH ,  Woong KWON ,  Joo Hyung KIM ,  Ju Suk LEE

IPC: B25J9/18 ,  B25J13/08

CPC classification number: B62D57/032 ,  B25J9/162 ,  B25J9/1664 ,  G05B2219/40244

Abstract: A walking robot and a control method thereof. The control method includes performing transition of a second leg to a toe-off state, when ground reaction force applied to a first leg exceeds a first set value under the condition that the first leg is in a swing state and the second leg is in a support state, performing transition of the second leg to the swing state and transition of the first leg to the support state, when ground reaction force applied to the second leg is below a second set value under the condition that the second leg is in the toe-off state, and achieving walking of the walking robot by repeating the transitions among the swing state, the support state and the toe-off state. Thereby, the control method allows the robot to more stably and naturally walk.

Abstract translation: 一种步行机器人及其控制方法。 控制方法包括：在第一腿处于摆动状态，第二腿处于第一腿的状态下，当施加到第一腿的地面反作用力超过第一设定值时，执行第二腿部到脚趾关闭状态的转变 在第二腿处于脚趾的状态下，当施加到第二腿的地面反作用力低于第二设定值时，执行第二腿到摆动状态的转变和第一腿的转变到支撑状态 并且通过重复摆动状态，支撑状态和脚趾关闭状态之间的过渡来实现步行机器人的行走。 因此，该控制方法允许机器人更稳定和自然地行走。

公开(公告)号：US20070255452A1

公开(公告)日：2007-11-01

申请号：US11625986

申请日：2007-01-23

Applicant: Woong KWON ,  Kyung-shik Roh

Inventor： Woong KWON ,  Kyung-shik Roh

IPC: G06F19/00

CPC classification number: G05D1/0259

Abstract: A moving robot apparatus and a control system and method thereof. A current state variable (e.g., the current direction of the main body of the robot apparatus) may be estimated using current data output from a sensor part of the robot apparatus. Initially, it is determined whether the current data output from the sensor part satisfy a necessary condition. The necessary condition may be considered to be satisfied when the current data are unaffected by a disturbance or external interference (e.g., the earth's magnetic field.). Thereafter, a current sample value may be extracted from a previous sample value obtained from the sensor part. The previous sample value may relate to a previous state variable (e.g., a previous direction of the robot main body). A weight of the current data may be calculated based on the current sample value. A value of the weight may depend on whether the necessary condition is satisfied by the current data. The current state variable is then estimated based on the extracted current sample value and the calculated weight. A control of the directional movement of the robot main body may be provided based on the estimated current state variable. A control system may be provided to accurately estimate, using a probability distribution, the direction of the robot main body when it can not be determined whether or not an external disturbance is reflected in the data output from the sensor part.

Abstract translation: 一种移动机器人装置及其控制系统及方法。 可以使用从机器人装置的传感器部输出的当前数据来估计当前状态变量（例如，机器人装置的主体的当前方向）。 首先，确定从传感器部输出的当前数据是否满足必要条件。 当当前数据不受干扰或外部干扰（例如地球磁场）的影响时，可以认为必要条件被满足。 此后，可以从从传感器部分获得的先前样本值中提取当前采样值。 先前的样本值可以涉及先前的状态变量（例如，机器人主体的先前方向）。 可以基于当前采样值来计算当前数据的权重。 重量的值可以取决于当前数据是否满足必要条件。 然后基于提取的当前样本值和计算的权重来估计当前状态变量。 可以基于估计的当前状态变量来提供机器人主体的方向运动的控制。 可以提供控制系统，以便在不能确定外部干扰是否反映在从传感器部分输出的数据中时，使用概率分布精确地估计机器人主体的方向。

公开(公告)号：US20090099716A1

公开(公告)日：2009-04-16

申请号：US12208096

申请日：2008-09-10

Applicant: Kyung-shik ROH ,  Woo-sup HAN ,  Woong KWON ,  Young-bo SHIM ,  Yeon-taek OH ,  Ki-cheol PARK

Inventor： Kyung-shik ROH ,  Woo-sup HAN ,  Woong KWON ,  Young-bo SHIM ,  Yeon-taek OH ,  Ki-cheol PARK

IPC: G05D1/00 ,  G06F17/30 ,  G06F7/06

CPC classification number: G05D1/0234

Abstract: A method for constructing an artificial mark for autonomous driving of an intelligent system, an apparatus and method for determining the location of an intelligent system using the artificial mark, and an intelligent system employing the same. The apparatus and method for determining the location of an intelligent system includes a projective invariant calculator which calculates a projective invariant of an artificial mark detected from an image taken for a driving place; a search unit which stores a database of indices according to a combination of colors of polygons included in the artificial mark, projective invariants of the artificial marks, and global location information of the artificial marks in the driving place, and searches the database by the calculated projective invariant for obtaining the global location information of the detected artificial mark; and a position information analyzer which analyzes the position of the intelligent system by using the global location information of the detected artificial mark and location information between the intelligent system and the detected artificial mark.

Abstract translation: 用于构建用于智能系统的自动驾驶的人造标记的方法，用于确定使用人造标记的智能系统的位置的装置和方法以及采用该智能系统的智能系统。 用于确定智能系统的位置的装置和方法包括投影不变计算器，其计算从为驾驶场所拍摄的图像检测到的人造标记的投影不变性; 搜索单元，其根据人造标记中包括的多边形的颜色的组合，人造标记的投影不变量和驾驶场所中的人造标记的全局位置信息来存储索引的数据库，并且通过计算出的数据库来搜索数据库 用于获得检测到的人造标记的全局位置信息的投影不变量; 以及位置信息分析器，其通过使用检测到的人造标记的全局位置信息和智能系统与检测到的人造标记之间的位置信息来分析智能系统的位置。

公开(公告)号：US20110178639A1

公开(公告)日：2011-07-21

申请号：US13006782

申请日：2011-01-14

Applicant: Woong KWON ,  Joong Kyung PARK ,  Ju Suk LEE ,  Chang Hyun ROH ,  Min Hyung LEE ,  Jae Ho PARK ,  Joo Hyung KIM ,  Ho Seong KWAK

Inventor： Woong KWON ,  Joong Kyung PARK ,  Ju Suk LEE ,  Chang Hyun ROH ,  Min Hyung LEE ,  Jae Ho PARK ,  Joo Hyung KIM ,  Ho Seong KWAK

IPC: B25J13/08

CPC classification number: B62D57/032

Abstract: 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.

Abstract translation: 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：US20090308668A1

公开(公告)日：2009-12-17

申请号：US12382132

申请日：2009-03-09

Applicant: Chang Hyun ROH ,  Woong KWON

Inventor： Chang Hyun ROH ,  Woong KWON

IPC: B62D57/032 ,  G06F19/00 ,  B62D57/02

CPC classification number: B62D57/032

Abstract: 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.

Abstract translation: 本发明公开了一种行走机器人及其控制方法，其中可以互补地实现阻抗控制和躯干倾斜控制，使得可以根据躯干的倾斜度来调整阻抗或者可以根据阻抗来调节躯干的倾斜 。 该方法包括测量脚的时刻; 测量躯干的倾斜度; 基于躯干的倾斜度来调整测量时刻的尺度，并且基于按比例调整的时刻来控制脚; 并且基于脚的ZMP变化量来调整测量到的倾斜的比例，并且基于按比例调节的ZMP变化量来控制躯干的倾斜。

公开(公告)号：US20090319082A1

公开(公告)日：2009-12-24

申请号：US12427009

申请日：2009-04-21

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

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

IPC: G05B19/04

CPC classification number: B62D57/032

Abstract: 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.

Abstract translation: 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：US20110178636A1

公开(公告)日：2011-07-21

申请号：US13006821

申请日：2011-01-14

Applicant: Woong KWON

Inventor： Woong KWON

IPC: B25J13/00

CPC classification number: B62D57/032

Abstract: Disclosed herein are a humanoid robot that compensates for a zero moment point (ZMP) error during finite state machine (FSM)-based walking to achieve stable walking and a walking control method thereof. The humanoid robot compensates for a joint position trajectory command or a joint torque command using compensation values calculated based on situations divided according to the position of a calculated ZMP and the position of a measured ZMP in a stable region of the robot.

Abstract translation: 这里公开了一种类人机器人，其在基于有限状态机（FSM）的步行中补偿零时刻点（ZMP）误差以实现稳定的行走及其行走控制方法。 类人机器人使用基于根据计算的ZMP的位置和在机器人的稳定区域中测量的ZMP的位置分割的情况计算的补偿值来补偿关节位置轨迹指令或关节转矩指令。