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    Robot control methods
    1.
    发明授权
    Robot control methods 有权
    机器人控制方法

    公开(公告)号：US09254568B2

    公开(公告)日：2016-02-09

    申请号：US14153302

    申请日：2014-01-13

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Ji Young Kim ,  Kwang Kyu Lee ,  Woong Kwon ,  Kyung Shik Roh ,  Ju Suk Lee ,  Seung Yong Hyung

    IPC: G05B19/41 ,  B25J9/16

    CPC classification number: B25J9/1625 ,  G05B2219/40299 ,  Y10S901/16

    Abstract: A robot control method of controlling a robot that has a flexible module including ‘n’ first nodes participating in pan motion and ‘n’ second nodes participating in tilt motion may include: measuring a translational motion distance, a pan motion angle, and a tilt motion angle of the flexible module; calculating state vectors of the ‘n’ first nodes and the ‘n’ second nodes using the measured translational motion distance; calculating operating angle distribution rates of the ‘n’ first nodes and operating angle distribution rates of the ‘n’ second nodes using the calculated state vectors of the ‘n’ first nodes and the calculated state vectors of the ‘n’ second nodes; and/or calculating operating angles of the ‘n’ first nodes and operating angles of the ‘n’ second nodes using the calculated operating angle distribution rates and the measured pan motion angle and tilt motion angle.

    Abstract translation: 控制机器人的机器人控制方法包括：测量平移运动距离，平移运动角度和俯仰角度的柔性模块，该柔性模块包括参与平移运动的第一节点和第n节点参与倾斜运动 柔性模块的运动角度; 使用测量的平移运动距离计算'n'个第一节点和'n'个第二节点的状态向量; 使用“n”个第一节点的计算状态矢量和“n”个第二节点的计算状态向量来计算'n'个第一节点的运行角分布率和'n'个第二节点的操作角分布率; 和/或使用所计算的操作角分布速率和测量的平移运动角度和倾斜运动角度来计算'n'个第一节点的运动角度和'n'个第二节点的操作角度。

    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：US20130158712A1

    公开(公告)日：2013-06-20

    申请号：US13685836

    申请日：2012-11-27

    Applicant: SAMSUNG ELECTRONICS CO., LTD.

    Inventor： Ju Suk Lee ,  Kyung Shik Roh

    IPC: G05B19/04

    CPC classification number: G05B19/04 ,  B62D57/032 ,  Y10S901/01

    Abstract: A walking robot includes hip joints of plural legs, a pose detector to detect a pose, a walking state judger to judge a walking state from the pose, a target angle trajectory generator to judge support and swing legs based on the walking state, to judge whether or not the swing leg contacts a surface prior to a prestored time, to shorten the next support cycle executed by the swing leg upon judging that the swing leg contacts a surface prior to the prestored time, and to generate target angle trajectories of the hip joints based on the shortened support cycle, a torque calculator to calculate torques tracking the target angle trajectories, and a controller to output the torques to the hip joint to control walking of the walking robot.

    Abstract translation: 行走机器人包括多个腿的髋关节，用于检测姿势的姿势检测器，用于判断姿势的行走状态的步行状态判断器，基于步行状态判断支撑和摆动腿的目标角度轨迹发生器，判断 在预先存储的时间之前摇摆腿是否接触表面，以便在判断出摇摆腿在预先存储的时间之前接触表面时缩短由摆动腿执行的下一个支撑周期，并且产生臀部的目标角度轨迹 基于缩短的支撑周期的关节，用于计算跟踪目标角度轨迹的扭矩的扭矩计算器，以及用于将扭矩输出到髋关节以控制步行机器人的行走的控制器。

    WALKING ROBOT AND CONTROL METHOD THEREOF
    3.
    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。

    Wearable robot and control method thereof
    6.
    发明授权
    Wearable robot and control method thereof 有权

    公开(公告)号：US10201437B2

    公开(公告)日：2019-02-12

    申请号：US14558081

    申请日：2014-12-02

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Ji Young Kim ,  Kyung-Won Moon ,  Young Bo Shim ,  Ju Suk Lee

    IPC: A61F2/68 ,  A61F2/70 ,  A61F2/72 ,  A61H3/00 ,  A61H1/02

    Abstract: Disclosed herein is a control method of a wearable robot, including: generating reference gait data based on the results of sensing by a sensor unit included in a structure; estimating, when a wearer walks, the wearer's gait phase based on the results of sensing by the sensor unit; detecting a gait phase having a minimum difference from the estimated gait phase from the reference gait data; and driving a driver of the structure, according to a control signal generated based on the estimated gait phase and the detected gait phase.

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