公开(公告)号：US07561941B2

公开(公告)日：2009-07-14

申请号：US10763395

申请日：2004-01-26

申请人： Woong Kwon ,  Suk-han Lee

发明人： Woong Kwon ,  Suk-han Lee

IPC分类号： G05B19/416 ,  G06F19/00 ,  B62D51/06

CPC分类号： A63H11/00 ,  A63H2200/00 ,  B62D57/032

摘要： An ambulatory robot including a lower body part having two or more legs and an upper body part installed on an upper end of the lower body part and capable of performing positional displacement by moving the lower body part, includes slope-detection means for sensing a slope of a floor, rotating means installed on a bottom surface of each of the two or more legs, and control means for controlling a motion of the ambulatory robot using the lower and upper body parts, wherein the control means controls a speed of revolution of the rotating means based on the slope of the floor, and controls the motion of the ambulatory robot so that the positional displacement of the ambulatory robot is performed by any of running, walking and sliding, depending on the controlled speed of revolution.

摘要翻译： 一种行走机器人，包括具有两个或更多个腿的下身部分和安装在下身部的上端上并能够通过移动下身部进行位置移位的上身部，包括用于感测斜面的倾斜检测装置 位于两个或多个腿部的每个的底面上的旋转装置，以及用于控制使用下部和上部身体部分的步行式机器人运动的控制装置，其中控制装置控制 基于地面坡度的旋转装置，并且控制移动机器人的运动，使得根据控制的转速可以通过行驶，行走和滑动中的任何一个来执行步行式机器人的位置偏移。

公开(公告)号：US6133824A

公开(公告)日：2000-10-17

申请号：US379594

申请日：1999-08-24

申请人： Suk-han Lee ,  Jae-won Lee ,  Dong-mok Shin ,  Woong Kwon ,  Dong-yoon Kim ,  Kyoung-sig Roh

发明人： Suk-han Lee ,  Jae-won Lee ,  Dong-mok Shin ,  Woong Kwon ,  Dong-yoon Kim ,  Kyoung-sig Roh

IPC分类号： G08G1/16 ,  B60Q1/52 ,  G01S13/93 ,  G06K9/46 ,  B60Q1/00

CPC分类号： G06K9/00798 ,  B60Q9/008 ,  G01S13/931 ,  G06K9/4604 ,  G01S2013/9353

摘要： A method for modeling a roadway and a method for recognizing lane markers based on the modeling method. The method for recognizing lane markers of roadway for a vehicle by getting image information about the roadway and information about the speed and steering angle using a camera and a sensor attached to the vehicle, includes the steps of modeling the actual roadway on which the vehicle travels, as a structure having a plurality of rectangular plates linked to each other. The modeled plates are overlayed onto the image information about the actual roadway, photographed by the camera, pixels forming the lane markers are extracted, and linear lane marker information is then obtained from the pixels forming the land markers. Then, the linear lane marker information is overlayed onto the modeled plates to recalculate lane marker information using the plates as a frame, and predetermined limitations of the features of the lane markers are applied to the plates onto which the linear lane marker information has been overlayed, to optimize the lane marker information. Then, the roadway on which the vehicle is traveling, is remodeled using the optimized lane marker information, the information about the speed and steering angle of the vehicle measured by the sensor, and the information about the modeled plates, and the position and orientation of the remodeled plates are calculated. Therefore, roadway recognition can be easily achieved using a modeled structure of the roadway, in which a plurality of rectangular plates are linked. Also, the model roadway is repeatedly mapped onto the actual roadway image, so that reliability in recognition of roadway increases.

摘要翻译： 基于建模方法的道路建模方法和车道识别识别方法。 通过使用摄像机和安装在车辆上的传感器获取关于车道的图像信息和关于速度和转向角的信息来识别车辆道路车道标记的方法包括以下步骤：对车辆行进的实际道路进行建模 作为具有彼此连接的多个矩形板的结构。 将建模的板叠加在由相机拍摄的关于实际道路的图像信息上，提取形成车道标记的像素，然后从形成陆地标记的像素获得线性车道标记信息。 然后，将线性车道标记信息覆盖在建模的板上，以板为框重新计算车道标记信息，并且将车道标记的特征的预定限制应用于已经覆盖线性车道标记信息的板 ，以优化车道标记信息。 然后，使用优化的车道标记信息，由传感器测量的关于车辆的速度和转向角的信息以及关于模型板的信息，以及关于车辆行驶的道路的位置和方位 计算出改造后的板材。 因此，可以使用多个矩形板连接的道路的建模结构容易地实现道路识别。 此外，模型道路被重复地映射到实际的道路图像上，使得道路识别的可靠性增加。

公开(公告)号：US20050021180A1

公开(公告)日：2005-01-27

申请号：US10763395

申请日：2004-01-26

申请人： Woong Kwon ,  Suk-han Lee

发明人： Woong Kwon ,  Suk-han Lee

IPC分类号： B25J5/00 ,  A63H11/00 ,  B62D57/032 ,  G06F19/00

CPC分类号： A63H11/00 ,  A63H2200/00 ,  B62D57/032

摘要： An ambulatory robot including a lower body part having two or more legs and an upper body part installed on an upper end of the lower body part and capable of performing positional displacement by moving the lower body part, includes slope-detection means for sensing a slope of a floor, rotating means installed on a bottom surface of each of the two or more legs, and control means for controlling a motion of the ambulatory robot using the lower and upper body parts, wherein the control means controls a speed of revolution of the rotating means based on the slope of the floor, and controls the motion of the ambulatory robot so that the positional displacement of the ambulatory robot is performed by any of running, walking and sliding, depending on the controlled speed of revolution.

摘要翻译： 一种行走机器人，包括具有两个或更多个腿的下身部分和安装在下身部的上端上并能够通过移动下身部进行位置移位的上身部，包括用于感测斜面的倾斜检测装置 位于两个或多个腿部的每个的底面上的旋转装置，以及用于控制使用下部和上部身体部分的步行式机器人运动的控制装置，其中控制装置控制 基于地面坡度的旋转装置，并且控制移动机器人的运动，使得根据控制的转速可以通过行驶，行走和滑动中的任何一个来执行步行式机器人的位置偏移。

公开(公告)号：US08874263B2

公开(公告)日：2014-10-28

申请号：US13249950

申请日：2011-09-30

申请人： Ho Seong Kwak ,  Kyung Shik Roh ,  Woong Kwon ,  Min Hyung Lee ,  Joo Hyung Kim

发明人： Ho Seong Kwak ,  Kyung Shik Roh ,  Woong Kwon ,  Min Hyung Lee ,  Joo Hyung Kim

IPC分类号： B25J11/00 ,  B62D57/032

CPC分类号： B62D57/032 ,  Y10S901/01

摘要： 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.

摘要翻译： 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控制模式中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：US08824775B2

公开(公告)日：2014-09-02

申请号：US12654160

申请日：2009-12-11

申请人： Suk June Yoon ,  Kyung Shik Roh ,  Woong Kwon ,  Seung Yong Hyung ,  Hyun Kyu Kim ,  Sung Hwan Ahn

发明人： Suk June Yoon ,  Kyung Shik Roh ,  Woong Kwon ,  Seung Yong Hyung ,  Hyun Kyu Kim ,  Sung Hwan Ahn

IPC分类号： G06K9/00

CPC分类号： G06T7/248 ,  G06T7/55 ,  G06T2207/10016 ,  G06T2207/10028

摘要： Disclosed herein are a feature point used to localize an image-based robot and build a map of the robot and a method of extracting and matching an image patch of a three-dimensional (3D) image, which is used as the feature point. It is possible to extract the image patch converted into the reference image using the position information of the robot and the 3D position information of the feature point. Also, it is possible to obtain the 3D surface information with the brightness values of the image patches to obtain the match value with the minimum error by a 3D surface matching method of matching the 3D surface information of the image patches converted into the reference image through the ICP algorithm.

摘要翻译： 这里公开的是用于本地化基于图像的机器人并构建机器人的映射的特征点以及用于提取和匹配用作特征点的三维（3D）图像的图像块的方法。 可以使用机器人的位置信息和特征点的3D位置信息来提取转换为参考图像的图像块。 另外，可以利用图像斑块的亮度值获得3D表面信息，以通过3D图像匹配方法获得具有最小误差的匹配值，该3D表面匹配方法通过匹配转换成参考图像的图像斑块的3D表面信息 ICP算法。

公开(公告)号：US08688273B2

公开(公告)日：2014-04-01

申请号：US13005262

申请日：2011-01-12

申请人： Ju Suk Lee ,  Woong Kwon ,  Kyung Shik Roh

发明人： Ju Suk Lee ,  Woong Kwon ,  Kyung Shik Roh

IPC分类号： G05B19/19

CPC分类号： B62D57/032 ,  B25J9/1648 ,  G05B2219/23289

摘要： A walking control apparatus of a robot includes a joint portion provided in each of a plurality of legs of the robot, a pose sensing unit to sense the pose of the robot, a walking state determination unit to determine a walking state from the pose of the robot, a knot point compensation value calculator to determine a Center Of Mass (COM) of the robot from the pose of the robot and to calculate a knot point compensation value, a desired angle trajectory generator to generate a reference knot point of the joint portion corresponding to the walking state, to compensate for the reference knot point using the knot point compensation value so as to generate a desired knot point, and to generate a desired angle trajectory of the joint portion using the desired knot point. The knot point which is the angle command of the joint portion of each of the legs to perform the next step is compensated for based on the COM, and the compensated desired knot point is smoothly connected using the spline curve such that the robot walks similar to a human. In addition, in order to maintain balance while walking, the angle of the joint portion of the intermediate point of the current step is fed back and the knot point of the next step is predicted and adjusted, such that the robot stably and smoothly walks.

摘要翻译： 机器人的步行控制装置包括设置在机器人的多个腿部的接合部，感测机器人姿态的姿势检测部，行走状态判定部， 机器人，结点补偿值计算器，从机器人的姿态确定机器人的质心（COM），并计算结点补偿值，所需角度轨迹发生器，以生成关节部分的参考点点 对应于步行状态，使用结点补偿值来补偿参考点，以产生期望的结点，并且使用期望的结点产生所述关节部分的期望的角度轨迹。 根据COM补偿作为每个腿的关节部分的角度指令的结点，并且使用样条曲线平滑地连接补偿的所需结点，使得机器人类似于 一个人。 此外，为了在行走时保持平衡，当前台阶的中间点的接合部分的角度被反馈，并且预测和调整下一步骤的结点，使得机器人平稳而顺利地行走。

公开(公告)号：US08682488B2

公开(公告)日：2014-03-25

申请号：US13006821

申请日：2011-01-14

申请人： Woong Kwon

发明人： Woong Kwon

IPC分类号： B25J13/04

CPC分类号： B62D57/032

摘要： 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.

摘要翻译： 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出的ZMP的位置和在机器人的稳定区域中测量的ZMP的位置划分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。

公开(公告)号：US08498743B2

公开(公告)日：2013-07-30

申请号：US12588847

申请日：2009-10-29

申请人： Ho Seong Kwak ,  Kyung Shik Roh ,  Woong Kwon

发明人： Ho Seong Kwak ,  Kyung Shik Roh ,  Woong Kwon

IPC分类号： G06F19/00

CPC分类号： B62D57/032

摘要： A finite state machine (FSM)-based biped robot, to which a limit cycle is applied to balance the robot right and left on a two-dimensional space, and a method of controlling balance of the robot. In order to balance an FSM-based biped robot right and left on a two-dimensional space, control angles to balance the robot according to states of the FSM-based biped robot are set. The range of the control angles is restricted to reduce the maximum right and left moving distance of the biped robot and thus to reduce the maximum right and left moving velocity of the biped robot, thereby reducing the sum total of the moments of the biped robot and thus allowing the ankles of the biped robot to balance the biped robot to be controlled, and causing the soles of the feet of the biped robot to parallel contact the ground.

摘要翻译： 基于有限状态机（FSM）的双足机器人，其应用极限循环以在二维空间上左右平衡机器人，以及控制机器人平衡的方法。 为了平衡基于FSM的两足动物机器人在二维空间上的左右左右，设置了根据基于FSM的两足动物机器人的状态来平衡机器人的控制角度。 控制角度的范围被限制以减少双足机器人的最大左右移动距离，从而减少双足机器人的最大左右移动速度，从而减少两足动物机器人的力矩总和 从而允许Biped机器人的脚踝平衡要被控制的Biped机器人，并且使得双足机器人脚部的底脚平行地接触地面。

公开(公告)号：US08498742B2

公开(公告)日：2013-07-30

申请号：US12588846

申请日：2009-10-29

申请人： Ho Seong Kwak ,  Woong Kwon ,  Kyung Shik Roh

发明人： Ho Seong Kwak ,  Woong Kwon ,  Kyung Shik Roh

IPC分类号： G06F19/00

CPC分类号： B62D57/032

摘要： An finite state machine (FSM)-based biped walking robot, to which a limit cycle is applied to balance the robot right and left on a two-dimensional space, and a method of controlling balance of the robot. In order to balance an FSM-based biped walking robot right and left on a two-dimensional space, control angles to balance the robot according to states of the FSM-based biped walking robot are set, and the control angles are controlled using a sinusoidal function to allow relations between the control angles and control angular velocities to form a stable closed loop within a limit cycle, thereby allowing the biped walking robot to balance itself while changing its supporting foot and thus to safely walk without falling down.

摘要翻译： 基于有限状态机（FSM）的两足动作机器人，其中应用了限制循环来平衡机器人在二维空间上的左右左右，以及一种控制机器人平衡的方法。 为了平衡基于FSM的两足动物机器人在二维空间上的左右左右，设置了根据基于FSM的双足步行机器人的状态来平衡机器人的控制角度，并且使用正弦曲线来控制控制角度 功能是允许控制角和控制角速度之间的关系在极限循环内形成稳定的闭环，从而允许双足步行机器人在改变其支撑脚的同时平衡自身，从而安全地行走而不会掉落。

公开(公告)号：US20120158182A1

公开(公告)日：2012-06-21

申请号：US13280586

申请日：2011-10-25

申请人： Ju Suk Lee ,  Kyung Shik Roh ,  Woong Kwon ,  Jae Ho Park

发明人： Ju Suk Lee ,  Kyung Shik Roh ,  Woong Kwon ,  Jae Ho Park

IPC分类号： G05B15/00

CPC分类号： B25J9/162 ,  G05B2219/40244 ,  G05D2201/0217

摘要： A walking control apparatus and method of a robot. The walking control method include confirming a swing leg and a support leg by judging a walking state of the robot when a walking velocity of the robot and a walking command are received by the robot, generating reference pitch knot points of a hip joint unit of the swing leg based on the walking state and the walking velocity of the robot, generating a target pitch angle trajectory of the hip joint unit of the swing leg using the reference pitch knot points, calculating torques tracking the target pitch angle trajectory, and outputting the torques to the hip joint unit of the swing leg to control the walking velocity of the robot. The walking velocity of the robot is rapidly and easily changed by adjusting at least one of a step length and a step time.

摘要翻译： 一种机器人的行走控制装置和方法。 步行控制方法包括：当机器人的步行速度和行走命令由机器人接收时，通过判断机器人的行走状态来判断摆动腿和支撑腿，生成髋关节单元的基准节点 基于步行状态和所述机器人的步行速度进行摆动腿，使用所述基准节距点产生所述摆动腿的髋关节单元的目标俯仰角轨迹，计算跟踪所述目标俯仰角轨迹的扭矩，并输出所述转矩 到摆动腿的髋关节单元以控制机器人的步行速度。 通过调整步长和步进时间中的至少一个来快速且容易地改变机器人的步行速度。