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1. 发明申请

US20100141197A1 Robot arm and method of controlling the same 有权
标题翻译：机器人手臂及其控制方法
公开(公告)号：US20100141197A1
公开(公告)日：2010-06-10
申请号：US12588691
申请日：2009-10-23
申请人： Kyung Won Moon , Kyung Shik Roh , Jong Do Choi , Hyun Kyu Kim
发明人： Kyung Won Moon , Kyung Shik Roh , Jong Do Choi , Hyun Kyu Kim
IPC分类号： G05B9/02
CPC分类号： B25J9/1638 , G05B2219/39194 , G05B2219/40264
摘要： Disclosed are a robot arm having high back-drivability to interact with a human being, which is safely stopped, and a method of controlling the robot arm. When the operation of the robot arm having high back-drivability to interact with a human being is converted into a safety mode due to the occurrence of an emergency, in which the operation of the robot arm is stopped, only a torque having a degree to compensate for gravity applied to the robot arm, i.e., only a torque to maintain the kinematical position of the current state of the robot arm without falling of the robot arm due to gravity, is outputted to control the robot arm as if the robot arm is in a weightless state, thus being capable of safely stopping the robot arm. Thereby, a user can easily move the robot arm and thus safely escape from the robot arm, and it is possible to prevent the falling of the robot arm due to gravity and thus to protect devices of the robot arm and peripheral environment around the robot arm.
摘要翻译：公开了一种机器人臂，其具有高的后驾驶性能，与人类相互作用，其被安全地停止，以及控制机器人手臂的方法。当机器人臂具有高反向驾驶性能与人相互作用的操作由于出现紧急情况而被转换为安全模式，其中机器人手臂的操作停止时，仅具有一定程度的扭矩补偿施加到机器人手臂的重力，即，仅输出维持机器人手臂的当前状态的运动学位置而不会因重力而使机器人手臂下降的扭矩，以控制机器人手臂，就好像机器人臂是在失重状态下，能够安全地停止机器人手臂。由此，使用者能够容易地移动机器人手臂，从而可以安全地从机器人臂逃逸，并且能够防止机器人臂因重力而坠落，从而保护机器人手臂的装置和机器人臂周围的环境。

2. 发明授权

US08405340B2 Robot arm and method of controlling the same 有权
标题翻译：机器人手臂及其控制方法
公开(公告)号：US08405340B2
公开(公告)日：2013-03-26
申请号：US12588691
申请日：2009-10-23
申请人： Kyung Won Moon , Kyung Shik Roh , Jong Do Choi , Hyun Kyu Kim
发明人： Kyung Won Moon , Kyung Shik Roh , Jong Do Choi , Hyun Kyu Kim
IPC分类号： G05B9/02
CPC分类号： B25J9/1638 , G05B2219/39194 , G05B2219/40264
摘要： Disclosed are a robot arm having high back-drivability to interact with a human being, which is safely stopped, and a method of controlling the robot arm. When the operation of the robot arm having high back-drivability to interact with a human being is converted into a safety mode due to the occurrence of an emergency, in which the operation of the robot arm is stopped, only a torque having a degree to compensate for gravity applied to the robot arm, i.e., only a torque to maintain the kinematical position of the current state of the robot arm without falling of the robot arm due to gravity, is outputted to control the robot arm as if the robot arm is in a weightless state, thus being capable of safely stopping the robot arm.
摘要翻译：公开了一种机器人臂，其具有高的后驾驶性能，与人类相互作用，其被安全地停止，以及控制机器人手臂的方法。当机器人臂具有高反向驾驶性能与人相互作用的操作由于出现紧急情况而被转换为安全模式，其中机器人手臂的操作停止时，仅具有一定程度的扭矩补偿施加到机器人手臂的重力，即，仅输出维持机器人手臂的当前状态的运动学位置而不会因重力而使机器人手臂下降的扭矩，以控制机器人手臂，就好像机器人臂是在失重状态下，能够安全地停止机器人手臂。

3. 发明授权

US08271137B2 Robot and method of controlling the same 有权
标题翻译：机器人及其控制方法
公开(公告)号：US08271137B2
公开(公告)日：2012-09-18
申请号：US12585188
申请日：2009-09-08
申请人： Kyung Won Moon , Kyung Shik Roh , Hyun Kyu Kim
发明人： Kyung Won Moon , Kyung Shik Roh , Hyun Kyu Kim
IPC分类号： B25J19/06 , G05B15/00 , G06F19/00
CPC分类号： B25J9/1674 , B25J13/085
摘要： There is provided a robot, which compensates for the angle of a joint, bent due to external force, using a redundant degree of freedom of the robot, and a method of controlling the same. The method includes sensing a bending angle of a joint due to external force or a torque applied to the joint, comparing the bending angle of the joint or the torque applied to the joint with an allowable safety reference value; and adjusting the bending angle of a higher-level joint of the joint using a redundant degree of freedom of the robot, when the bending angle or the torque reaches the allowable safety reference value, thereby compensating for the excessively bending angle of the joint and thus being capable of safely controlling the robot.
摘要翻译：提供了一种机器人，其利用机器人的冗余自由度来补偿由于外力而弯曲的关节的角度及其控制方法。该方法包括：检测由于外力或接头施加的扭矩引起的接头的弯曲角度，将接头的弯曲角度或施加到接头处的扭矩进行比较和允许的安全参考值; 并且当弯曲角度或扭矩达到允许的安全参考值时，使用机器人的冗余自由度来调节接头的上级接头的弯曲角度，从而补偿接头的过度弯曲角度，从而能够安全地控制机器人。

4. 发明申请

US20100161130A1 Control apparatus of multi-finger hand and grasping method using the same 有权
标题翻译：多指手掌控制装置及其使用方法
公开(公告)号：US20100161130A1
公开(公告)日：2010-06-24
申请号：US12654166
申请日：2009-12-11
申请人： Ji Young Kim , Jong Do Choi , Hyun Kyu Kim , Kyung Won Moon
发明人： Ji Young Kim , Jong Do Choi , Hyun Kyu Kim , Kyung Won Moon
IPC分类号： B25J15/08 , G05D17/02
CPC分类号： B25J9/1612 , G05B2219/39524
摘要： A grasping method of a multi-finger hand including calculating positions of tips of plural actual fingers; calculating positions of tips of plural virtual fingers using the calculated positions of the tips of the plural actual fingers; judging that a central position among the calculated positions of the tips of the plural virtual fingers is a central position of a virtual object based on the calculated positions of the tips of the plural virtual fingers; and controlling joint torques of the respective actual fingers corresponding to the tips of the virtual fingers such that motions of the tips of the plural virtual fingers are carried out while uniformly maintaining the relative positional relationships of the tips of the plural virtual fingers based on the central position of the virtual object.
摘要翻译：一种多指手指的握持方法，包括计算多个实际手指的尖端的位置; 使用所计算的多个实际手指的尖端的位置来计算多个虚拟手指的尖端的位置; 根据计算出的多个虚拟手指的尖端的位置，判断所述多个虚拟手指的前端的计算位置的中心位置是虚拟对象的中心位置; 并且控制对应于虚拟指尖的相应实际手指的关节扭矩，使得多个虚拟手指的尖端的运动被执行，同时基于中心来均匀地保持多个虚拟手指的尖端的相对位置关系虚拟对象的位置。

5. 发明授权

US08909376B2 Robot hand and method of controlling the same 有权
标题翻译：机器人手和控制方法
公开(公告)号：US08909376B2
公开(公告)日：2014-12-09
申请号：US12588766
申请日：2009-10-27
申请人： Kyung Won Moon , Hyun Kyu Kim , Jong Do Choi
发明人： Kyung Won Moon , Hyun Kyu Kim , Jong Do Choi
IPC分类号： B66C1/42 , C25D11/04 , C25D7/00
CPC分类号： B25J15/0009 , B25J9/1612 , B25J9/1633 , G05B2219/39344 , G05B2219/39492
摘要： Disclosed herein is a method of controlling a robot hand similar to a hand of a human being such that the robot hand naturally and safely grasps an object. The robot hand, including fingers and a palm, is capable of naturally and safely grasping an object, by the tip of each finger performing impedance control while following the optimal path on a Cartesian coordinate system, although the robot hand cannot reach a position ideal to grasp the object due to sensor errors or shape information of the object to be grasped is not correctly recognized. Also, the robot hand is capable of stably grasping the object even when moving or manipulating the object.
摘要翻译：这里公开了一种控制类似于人的手的机器人手的方法，使得机器人手自然且安全地抓住物体。包括手指和手掌在内的机器人手能够自然地和安全地抓住物体，每个手指的尖端在跟随笛卡尔坐标系上的最佳路径时执行阻抗控制，尽管机器人手不能达到理想的位置由于传感器错误而抓住对象，或者被抓握对象的形状信息未被正确识别。此外，即使在移动或操纵物体时，机器人手也能够稳定地抓住物体。

6. 发明授权

US08346393B2 Control apparatus of multi-finger hand and grasping method using the same 有权
标题翻译：多指手掌控制装置及其使用方法
公开(公告)号：US08346393B2
公开(公告)日：2013-01-01
申请号：US12654166
申请日：2009-12-11
申请人： Ji Young Kim , Jong Do Choi , Hyun Kyu Kim , Kyung Won Moon
发明人： Ji Young Kim , Jong Do Choi , Hyun Kyu Kim , Kyung Won Moon
IPC分类号： B25J15/08 , G05D17/02
CPC分类号： B25J9/1612 , G05B2219/39524
摘要： A grasping method of a multi-finger hand including calculating positions of tips of plural actual fingers; calculating positions of tips of plural virtual fingers using the calculated positions of the tips of the plural actual fingers; judging that a central position among the calculated positions of the tips of the plural virtual fingers is a central position of a virtual object based on the calculated positions of the tips of the plural virtual fingers; and controlling joint torques of the respective actual fingers corresponding to the tips of the virtual fingers such that motions of the tips of the plural virtual fingers are carried out while uniformly maintaining the relative positional relationships of the tips of the plural virtual fingers based on the central position of the virtual object.
摘要翻译：一种多指手指的握持方法，包括计算多个实际手指的尖端的位置; 使用所计算的多个实际手指的尖端的位置来计算多个虚拟手指的尖端的位置; 根据计算出的多个虚拟手指的尖端的位置，判断所述多个虚拟手指的前端的计算位置的中心位置是虚拟对象的中心位置; 并且控制对应于虚拟指尖的相应实际手指的关节扭矩，使得多个虚拟手指的尖端的运动被执行，同时基于中心来均匀地保持多个虚拟手指的尖端的相对位置关系虚拟对象的位置。

7. 发明授权

US08824775B2 Robot and control method thereof 有权
标题翻译：机器人及其控制方法
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。

8. 发明申请

US20090292394A1 Apparatus for locating moving robot and method for the same 有权
标题翻译：用于定位移动机器人的装置及其方法
公开(公告)号：US20090292394A1
公开(公告)日：2009-11-26
申请号：US12379433
申请日：2009-02-20
申请人： Seung Yong Hyung , Kyung Shik Roh , Woong Kwon , San Lim , Sukjune Yoon , Hyun Kyu Kim
发明人： Seung Yong Hyung , Kyung Shik Roh , Woong Kwon , San Lim , Sukjune Yoon , Hyun Kyu Kim
IPC分类号： G05B19/04
CPC分类号： G05D1/027 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D2201/0203
摘要： An apparatus and a method of locating a moving robot are disclosed. The apparatus includes a storage unit storing information on straight lines of wall on a map, a state quantity detection unit detecting quantity of state of the robot running along the wall, and a control unit estimating an interior position of the robot by obtaining straight line information based on the detected state quantity and matching the obtained straight line information with the stored straight line information.
摘要翻译：公开了一种定位移动机器人的装置和方法。该装置包括存储单元，其存储在地图上的直线上的信息，状态量检测单元检测沿壁行进的机器人的状态量，以及控制单元，通过获得直线信息来估计机器人的内部位置基于检测到的状态量，并将获得的直线信息与所存储的直线信息进行匹配。

9. 发明申请

US20090092442A1 COMPLIANT JOINT 有权
标题翻译：合作伙伴
公开(公告)号：US20090092442A1
公开(公告)日：2009-04-09
申请号：US12110817
申请日：2008-04-28
申请人： Young Bo SHIM , Ja Woo Lee , Youn Baek Lee , Jeong Hun Kim , Kyung Shik Roh , Hyun Kyu Kim
发明人： Young Bo SHIM , Ja Woo Lee , Youn Baek Lee , Jeong Hun Kim , Kyung Shik Roh , Hyun Kyu Kim
IPC分类号： F16C11/12
CPC分类号： B25J19/063 , Y10T403/54 , Y10T403/602 , Y10T403/604
摘要： A compliant joint capable of achieving passive compliance for a robot in order to prevent an injury to a human by collision with the robot. The compliant joint includes a housing, a cam member rotatably mounted in the housing, a roller spring device mounted to the cam member to be compressed and extended, a guiding member formed in the housing to guide compression and extension of the roller spring device in accordance with rotation of the cam member, and a receiving recess formed at the guiding member to engage the housing and the cam member with each other by receiving the roller spring device and release the engagement by separating from the roller spring device. Accordingly, robustness of the robot can be maintained when an impact less than a predetermined magnitude is applied, while being suddenly decreased when an impact greater than the magnitude is applied.
摘要翻译：能够实现机器人的被动符合性以便通过与机器人碰撞来防止对人造成伤害的符合关节。柔性接头包括壳体，可旋转地安装在壳体中的凸轮构件，安装到凸轮构件以被压缩和延伸的辊弹簧装置，形成在壳体中的引导构件，用于引导辊弹簧装置的压缩和延伸凸轮构件的旋转和形成在引导构件处的接收凹部通过接收滚子弹簧装置而相互接合壳体和凸轮构件，并通过与滚子弹簧装置分离来释放接合。因此，当施加小于预定幅度的冲击时，可以保持机器人的鲁棒性，同时在大于施加幅度的冲击下突然减小。

10. 发明授权

US08315737B2 Apparatus for locating moving robot and method for the same 有权
标题翻译：用于定位移动机器人的装置及其方法
公开(公告)号：US08315737B2
公开(公告)日：2012-11-20
申请号：US12379433
申请日：2009-02-20
申请人： Seung Yong Hyung , Kyung Shik Roh , Woong Kwon , San Lim , Sukjune Yoon , Hyun Kyu Kim
发明人： Seung Yong Hyung , Kyung Shik Roh , Woong Kwon , San Lim , Sukjune Yoon , Hyun Kyu Kim
IPC分类号： G05B19/18
CPC分类号： G05D1/027 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D2201/0203
摘要： An apparatus and a method of locating a moving robot are disclosed. The apparatus includes a storage unit storing information on straight lines of wall on a map, a state quantity detection unit detecting quantity of state of the robot running along the wall, and a control unit estimating an interior position of the robot by obtaining straight line information based on the detected state quantity and matching the obtained straight line information with the stored straight line information.
摘要翻译：公开了一种定位移动机器人的装置和方法。该装置包括存储单元，其存储在地图上的直线上的信息，状态量检测单元检测沿壁行进的机器人的状态量，以及控制单元，通过获得直线信息来估计机器人的内部位置基于检测到的状态量，并将获得的直线信息与所存储的直线信息进行匹配。

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