公开(公告)号：US20050187669A1

公开(公告)日：2005-08-25

申请号：US11000426

申请日：2004-12-01

Applicant: Joo-young Kwak ,  Yong-kwun Lee ,  Young Son ,  Chang-hyun Roh

Inventor： Joo-young Kwak ,  Yong-kwun Lee ,  Young Son ,  Chang-hyun Roh

IPC: B25J13/08 ,  B25J9/06 ,  B25J13/00 ,  B25J19/02 ,  G05D19/02 ,  G06F7/00

CPC classification number: B62D57/032 ,  B25J9/1638 ,  B25J9/1651

Abstract: A method of controlling vibration of a moving system having driving and driven units includes measuring an acceleration of the driven unit, generating a nominal acceleration by subtracting gravity from the measured acceleration, generating a control driving force according to the nominal acceleration, the driving force having a direction opposite to that of the measured acceleration, and applying the control driving force to the driven unit.

Abstract translation: 一种控制具有驱动和驱动单元的移动系统的振动的方法包括测量从动单元的加速度，通过从所测量的加速度中减去重力来产生标称加速度，产生根据标称加速度的控制驱动力，驱动力具有 与所测量的加速度相反的方向，并将控制驱动力施加到从动单元。

公开(公告)号：US07059197B2

公开(公告)日：2006-06-13

申请号：US10435377

申请日：2003-05-12

Applicant: Young Son ,  Yeon-taek Oh ,  Kyoung-sig Roh ,  Joo-young Kwak ,  Yong-kwun Lee

Inventor： Young Son ,  Yeon-taek Oh ,  Kyoung-sig Roh ,  Joo-young Kwak ,  Yong-kwun Lee

IPC: G01N3/08

CPC classification number: B62D57/02 ,  B62D57/032 ,  G01L1/22 ,  G01L5/161 ,  G01L5/226

Abstract: A ground reaction force measuring module for a walking robot includes a housing installed at a predetermined portion of the walking robot facing the ground, a moving unit installed capable of moving with respect to the housing according to the presence of a pressing force to the ground transferred from the ground to the walking robot, and a compression sensor installed in the housing to measure a reaction force of the ground from the presence of the pressing force transferred through the moving unit. Thus, a change in the ground reaction force in a wide range can be stably coped with and the installation position of the robot foot can be easily changed.

Abstract translation: 用于步行机器人的地面反作用力测量模块包括：安装在步行机器人面向地面的预定部分的壳体;移动单元，其安装成能够根据存在压力的方式相对于壳体移动到被转移的地面 从地面到步行机器人，以及安装在壳体中的压缩传感器，用于测量由存在通过移动单元传递的按压力的地面的反作用力。 因此，可以稳定地应对大范围的地面反作用力的变化，并且可以容易地改变机器人脚的安装位置。

公开(公告)号：US06805163B2

公开(公告)日：2004-10-19

申请号：US10214552

申请日：2002-03-09

Applicant: Yong-kwun Lee

Inventor： Yong-kwun Lee

IPC: F15B13044

CPC classification number: F15B13/0405 ,  F15B13/0444 ,  F16K31/047 ,  Y10T137/86622 ,  Y10T137/86686

Abstract: A micro lock valve includes a cylinder forming an air chamber. One part of the cylinder is provided with an inlet port and an outlet port which communicate with each other through the air chamber, and the other part is provided with an exhaust port communicating with the air chamber. The micro lock valve also includes a plunger slidingly traveling in the cylinder, blocking up one of the inlet port or the exhaust port, and formed with a female screw thread in a traveling direction of the plunger. The micro lock valve includes a driving shaft having a male screw thread mating with the female screw thread and a driving motor rotating the driving shaft forwardly and backwardly. Accordingly, the micro lock valve maintains a normally closed state and a normally open state without consuming a large amount of electric power and is driven by low electric power for a long period of time. Further, the micro lock valve needs relatively low electric power to drive a number of the micro lock valves, and decreases noise due to an operation thereof.

Abstract translation: 微型锁阀包括形成空气室的气缸。 气缸的一部分设置有通过空气室彼此连通的入口和出口，另一部分设置有与空气室连通的排气口。 微型锁定阀还包括滑动地在气缸中行进的柱塞，阻塞入口或排气口中的一个，并在柱塞的行进方向上形成有内螺纹。 微型锁定阀包括具有与内螺纹配合的外螺纹的驱动轴和驱动马达向前和向后旋转的驱动马达。 因此，微锁定阀保持常闭状态和常开状态，而不消耗大量的电力，并且由低电力长时间驱动。 此外，微型锁定阀需要相对低的电力来驱动多个微型锁定阀，并且由于其操作而降低噪音。

公开(公告)号：US07751935B2

公开(公告)日：2010-07-06

申请号：US11000426

申请日：2004-12-01

Applicant: Joo-young Kwak ,  Yong-kwun Lee ,  Young Son ,  Chang-hyun Roh

Inventor： Joo-young Kwak ,  Yong-kwun Lee ,  Young Son ,  Chang-hyun Roh

IPC: G06F19/00

CPC classification number: B62D57/032 ,  B25J9/1638 ,  B25J9/1651

Abstract: A method of controlling vibration of a moving system having driving and driven units includes measuring an acceleration of the driven unit, generating a nominal acceleration by subtracting gravity from the measured acceleration, generating a control driving force according to the nominal acceleration, the driving force having a direction opposite to that of the measured acceleration, and applying the control driving force to the driven unit.

Abstract translation: 一种控制具有驱动和驱动单元的移动系统的振动的方法包括测量从动单元的加速度，通过从所测量的加速度中减去重力来产生标称加速度，产生根据标称加速度的控制驱动力，驱动力具有 与所测量的加速度相反的方向，并将控制驱动力施加到从动单元。

公开(公告)号：US07099743B2

公开(公告)日：2006-08-29

申请号：US10643898

申请日：2003-08-20

Applicant: Yong-kwun Lee ,  Yeon-taek Oh ,  Soo-sang Yang ,  Ja-woo Lee

Inventor： Yong-kwun Lee ,  Yeon-taek Oh ,  Soo-sang Yang ,  Ja-woo Lee

IPC: G06F19/00

CPC classification number: B25J9/1065 ,  B62D57/032

Abstract: A two-legged walking robot includes a pair of foot members a calf member provided above each foot member, a double-axis ankle joint provided between the foot member and the calf member to allow the foot member to rotate relative to the calf member in forward and backward directions and in right and left directions. The robot also includes a femoral member provided above each calf member, a single-axis knee joint provided between the calf member and the femoral member, a hip member provided above the femoral member, and a double-axis hip joint provided between the femoral member and the hip member to allow the femoral member to rotate relative to the hip member in the forward, backward, right, and left directions. Thus, the two-legged walking robot operates similar to a human ankle, knee and hip.

Abstract translation: 双腿行走机器人包括一对脚部构件，设置在每个脚构件上方的小腿构件，设置在脚构件和小腿构件之间的双轴踝关节，以允许脚构件相对于小腿构件向前旋转 向后方向，左右方向。 机器人还包括设置在每个小腿构件上方的股骨构件，设置在小腿构件和股骨构件之间的单轴膝关节，设置在股骨构件上方的髋部构件和设置在股骨构件之间的双轴髋关节 以及髋部构件，以允许股骨构件相对于臀部构件在向前，向后，向右和向左方向上旋转。 因此，双腿步行机器人的操作类似于人类脚踝，膝盖和髋部。

公开(公告)号：US07061198B2

公开(公告)日：2006-06-13

申请号：US10885900

申请日：2004-07-08

Applicant: Yong-kwun Lee ,  Joo-young Kwak ,  Young Son ,  Yeon-taek Oh ,  Kyoung-sig Roh

Inventor： Yong-kwun Lee ,  Joo-young Kwak ,  Young Son ,  Yeon-taek Oh ,  Kyoung-sig Roh

IPC: B25J5/00

CPC classification number: B25J13/085 ,  B62D57/02 ,  B62D57/032

Abstract: A method of controlling a biped walking robot to balance the robot based on a sensed ground reaction force. In the method, X and Y coordinates are assigned to positions of sensors attached to a sole of a leg of the robot and a corresponding Z coordinate is assigned for at least three of the sensors based on the sensed ground reaction force sensed by at the sensors, respectively. A ground reaction force plane is specified based on the sensed ground reaction force and a normal vector perpendicular to the ground reaction force plane is calculated. A roll angle about an X-axis and a pitch angle about a Y-axis are calculated and an actuator is driven in correspondence to the roll angle and the pitch angle to move a part of the robot to align the normal vector with a reference vector of the gravity direction.

Abstract translation: 基于感测的地面反作用力来控制双足步行机器人来平衡机器人的方法。 在该方法中，X和Y坐标被分配给附接到机器人腿部的鞋底的传感器的位置，并且基于由传感器感测到的感测到的地面反作用力，为至少三个传感器分配相应的Z坐标 ， 分别。 基于感测到的地面反作用力来指定地面反作用力平面，并且计算垂直于地面反作用力平面的法向矢量。 计算围绕X轴的倾斜角和围绕Y轴的俯仰角，并且相应于侧倾角和俯仰角驱动致动器，以使机器人的一部分移动以使法向量与参考矢量对准 的重力方向。

公开(公告)号：US20050029979A1

公开(公告)日：2005-02-10

申请号：US10885900

申请日：2004-07-08

Applicant: Yong-kwun Lee ,  Joo-young Kwak ,  Young Son ,  Yeon-taek Oh ,  Kyoung-sig Roh

Inventor： Yong-kwun Lee ,  Joo-young Kwak ,  Young Son ,  Yeon-taek Oh ,  Kyoung-sig Roh

IPC: A63H11/00 ,  B25J5/00 ,  B25J13/08 ,  B25J19/02 ,  B62D57/02 ,  B62D57/032

CPC classification number: B25J13/085 ,  B62D57/02 ,  B62D57/032

Abstract: A method of controlling a biped walking robot to balance the robot based on a sensed ground reaction force. In the method, X and Y coordinates are assigned to positions of sensors attached to a sole of a leg of the robot and a corresponding Z coordinate is assigned for at least three of the sensors based on the sensed ground reaction force sensed by at the sensors, respectively. A ground reaction force plane is specified based on the sensed ground reaction force and a normal vector perpendicular to the ground reaction force plane is calculated. A roll angle about an X-axis and a pitch angle about a Y-axis are calculated and an actuator is driven in correspondence to the roll angle and the pitch angle to move a part of the robot to align the normal vector with a reference vector of the gravity direction.

Abstract translation: 基于感测的地面反作用力来控制双足步行机器人来平衡机器人的方法。 在该方法中，X和Y坐标被分配给附接到机器人腿部的鞋底的传感器的位置，并且基于由传感器感测到的感测到的地面反作用力，为至少三个传感器分配相应的Z坐标 ， 分别。 基于感测到的地面反作用力来指定地面反作用力平面，并且计算垂直于地面反作用力平面的法向矢量。 计算围绕X轴的倾斜角和围绕Y轴的俯仰角，并且相应于侧倾角和俯仰角驱动致动器，以使机器人的一部分移动以使法向量与参考矢量对准 的重力方向。