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    WALKING ROBOT AND CONTROL METHOD THEREOF
    2.
    发明申请
    WALKING ROBOT AND CONTROL METHOD THEREOF 审中-公开
    运动机器人及其控制方法

    公开(公告)号：US20130144439A1

    公开(公告)日：2013-06-06

    申请号：US13693565

    申请日：2012-12-04

    Applicant: SAMSUNG ELECTRONICS CO., LTD.

    Inventor： Min Hyung LEE ,  Jae Ho Park ,  Kyung Shik Roh ,  Ju Suk Lee

    IPC: B25J9/16

    CPC classification number: B25J9/1633 ,  B25J13/085 ,  B62D57/032

    Abstract: A walking robot to prevent slippage of a swing foot on the ground and a control method thereof includes generating a target angle trajectory for each joint unit of legs, calculating a torque, which tracks the target angle trajectory, for each joint unit, determining whether slippage of a swing foot connected to a swing leg of the two legs occurs, calculating a final torque to be provided to each joint unit of the swing leg based on a velocity sensed from the swing foot if occurrence of slippage of the swing foot is determined, and providing the calculated final torque to each joint unit. By sensing whether slippage of the swing foot occurs when the swing foot touches the ground and restricting a torque to be applied to each joint unit based on the sensed result, stable walking of the robot is realized.

    Abstract translation: 一种步行机器人，用于防止摆动脚在地面上的滑动及其控制方法包括为每个关节单元生成目标角度轨迹，计算每个关节单元跟踪目标角度轨迹的扭矩，确定是否滑动 发生连接到两个腿的摆动腿的摇摆脚，如果确定了摆动脚的滑动，则基于从摆动脚感测到的速度来计算提供给摆动腿的每个关节单元的最终扭矩， 并将计算的最终转矩提供给每个接头单元。 通过感测当摇摆脚接触地面并且基于感测结果限制施加到每个关节单元的扭矩时，发生摆动脚的滑动，实现了机器人的稳定行走。

    SURGICAL ROBOT SYSTEM AND CONTROL METHOD THEREOF
    5.
    发明申请
    SURGICAL ROBOT SYSTEM AND CONTROL METHOD THEREOF 有权
    外科手术系统及其控制方法

    公开(公告)号：US20140046128A1

    公开(公告)日：2014-02-13

    申请号：US13943962

    申请日：2013-07-17

    Applicant: SAMSUNG ELECTRONICS CO., LTD.

    Inventor： Min Hyung LEE ,  Young Bo SHIM ,  Byung June CHOI ,  Young Do KWON ,  Kyung Shik ROH

    IPC: A61B19/00 ,  A61B5/055 ,  A61B1/04 ,  A61B6/03 ,  A61B17/04 ,  A61B1/00

    CPC classification number: A61B34/37 ,  A61B1/00009 ,  A61B1/00149 ,  A61B1/04 ,  A61B5/055 ,  A61B5/11 ,  A61B5/1124 ,  A61B5/7264 ,  A61B5/742 ,  A61B6/032 ,  A61B17/0469 ,  A61B17/062 ,  A61B34/30

    Abstract: A control method may be applied to a surgical robot system including a slave robot having a robot arm to which a main surgical tool and an auxiliary surgical tool are coupled, and a master robot having a master manipulator to manipulate the robot arm. The control method includes acquiring data regarding a motion of the master manipulator, predicting a basic motion to be performed by an operator based on the acquired motion data and results of learning a plurality of motions constituting a surgical task, and adjusting the auxiliary surgical tool so as to correspond to the operator basic motion based on the predicted basic motion. The control method allows an operator to perform surgery more comfortably and to move or fix all required surgical tools to or at an optimized surgical position.

    Abstract translation: 控制方法可以应用于包括具有主外科手术工具和辅助外科手术工具的机器人臂的从动机器人的外科手术机器人系统，以及具有操纵机器人手臂的主操作器的主机器人。 所述控制方法包括获取关于主操纵器的运动的数据，基于所获取的运动数据和学习构成手术任务的多个运动的结果来预测操作者将执行的基本运动，以及调整辅助外科手术工具 对应于基于预测的基本运动的操作者基本运动。 控制方法允许操作者更舒适地进行手术，并且将所有所需的手术工具移动或固定到优化的外科手术位置。

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