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81. 发明申请

US20120121126A1 METHOD AND APPARATUS FOR ESTIMATING FACE POSITION IN 3 DIMENSIONS 有权
标题翻译：用于估计3维尺度位置的方法和装置
公开(公告)号：US20120121126A1
公开(公告)日：2012-05-17
申请号：US13218850
申请日：2011-08-26
申请人： Won Jun Hwang , Ji Hyo Lee , Kyung Shik Roh , Suk June Yoon
发明人： Won Jun Hwang , Ji Hyo Lee , Kyung Shik Roh , Suk June Yoon
IPC分类号： G06K9/00
CPC分类号： G06K9/00228 , G06T7/593 , G06T7/62 , G06T2207/10012 , G06T2207/10028 , G06T2207/10048 , G06T2207/20081 , G06T2207/30201
摘要： An apparatus and method for estimating a three-dimensional face position. The method of estimating the three-dimensional face position includes acquiring two-dimensional image information from a single camera, detecting a face region of a user from the two-dimensional image information, calculating the size of the detected face region, estimating a distance between the single camera and the user's face using the calculated size of the face region, and obtaining positional information of the user's face in a three-dimensional coordinate system using the estimated distance between the single camera and the user's face. Accordingly, it is possible to estimate the distance between the user and the single camera using the size of the face region of the user in the image information acquired by the single camera so as to acquire the three-dimensional position coordinates of the user.
摘要翻译：一种用于估计三维脸部位置的装置和方法。估计三维脸部位置的方法包括从单个照相机获取二维图像信息，从二维图像信息中检测用户的脸部区域，计算检测到的脸部区域的尺寸，估计检测到的脸部区域的距离使用计算出的面部区域的尺寸的单个照相机和用户的脸部，并且使用单个照相机和用户脸部之间的估计距离来获得三维坐标系中的用户脸部的位置信息。因此，可以使用由单个照相机获取的图像信息中的用户的脸部区域的大小来估计用户和单个照相机之间的距离，以获得用户的三维位置坐标。

82. 发明申请

US20120089295A1 MOVING ROBOT AND METHOD TO BUILD MAP FOR THE SAME 有权
标题翻译：移动机器人和建立地图的方法
公开(公告)号：US20120089295A1
公开(公告)日：2012-04-12
申请号：US13236050
申请日：2011-09-19
申请人： Sung Hwan AHN , Seung Yong Hyung , Kyung Shik Roh , Suk June Yoon
发明人： Sung Hwan AHN , Seung Yong Hyung , Kyung Shik Roh , Suk June Yoon
IPC分类号： G05D1/00
CPC分类号： G05D1/0274 , G05D1/0242 , G05D2201/0217
摘要： A moving robot and a method to build a map for the same, wherein a 3D map for an ambient environment of the moving robot may be built using a Time of Flight (TOF) camera that may acquire 3D distance information in real time. The method acquires 3D distance information of an object present in a path along which the moving robot moves, accumulates the acquired 3D distance information to construct a map of a specific level and stores the map in a database, and then hierarchically matches maps stored in the database to build a 3D map for a set space. This method may quickly and accurately build a 3D map for an ambient environment of the moving robot.
摘要翻译：一种移动机器人和用于构建其的地图的方法，其中可以使用可以实时获取3D距离信息的飞行时间（TOF）相机来构建移动机器人的周围环境的3D地图。该方法获取存在于移动机器人移动的路径中的对象的3D距离信息，累积获取的3D距离信息以构建特定级别的地图，并将该地图存储在数据库中，然后分层地匹配存储在数据库构建一个集合空间的3D地图。该方法可以快速且准确地构建移动机器人的周围环境的3D地图。

83. 发明申请

US20120078419A1 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：US20120078419A1
公开(公告)日：2012-03-29
申请号：US13232383
申请日：2011-09-14
申请人： Myung Hee KIM , Kyung Shik Roh , Young Bo Shim , San Lim
发明人： Myung Hee KIM , Kyung Shik Roh , Young Bo Shim , San Lim
IPC分类号： G05B19/048
CPC分类号： B25J9/1669
摘要： A robot and a control method thereof. The robot has plural robot arms, each having at least one joint unit and a hand, and the control method includes dividing an object into target and feasible grasp regions and storing grasp policies respectively corresponding to the grasp regions, sensing respective orientations of the object, the at least one joint unit, and an obstacle, judging whether or not grasping of the target grasp region is feasible after sensing the orientations, generating a grasp route using the grasp policy for the target grasp region, upon judging that grasping of the target grasp region is feasible, and generating a grasp route using the grasp policy for one of the feasible grasp regions, upon judging that grasping of the target grasp region is not feasible, and controlling the at least one joint unit and the hand to trace the generated grasp route.
摘要翻译：机器人及其控制方法。机器人具有多个机械手臂，每个机械臂具有至少一个关节单元和一个手，并且该控制方法包括将物体分成目标和可能的把握区域，并分别对应于把持区域存储把握策略，检测物体的各个取向，至少一个联合单元和障碍物，在判断抓住目标抓取之后，判断抓住目标抓握区域是否可行，在使用抓握方式的抓取策略生成抓取路线之后，区域是可行的，并且在判断出目标把持区域的抓握不可行时，使用抓握策略生成一个可抓握区域的把握路线，并且控制至少一个关节单元和手来跟踪产生的抓握路线。

84. 发明申请

US20120076355A1 3D OBJECT TRACKING METHOD AND APPARATUS 有权
标题翻译： 3D对象跟踪方法和设备
公开(公告)号：US20120076355A1
公开(公告)日：2012-03-29
申请号：US13204888
申请日：2011-08-08
申请人： Suk June YOON , Kyung Shik Roh , Won Jun Hwang , Seung Yong Hyung , Sung Hwan Ahn
发明人： Suk June YOON , Kyung Shik Roh , Won Jun Hwang , Seung Yong Hyung , Sung Hwan Ahn
IPC分类号： G06K9/00
CPC分类号： G06T7/251
摘要： A 3D object tracking method and apparatus in which a model of an object to be tracked is divided into a plurality of polygonal planes and the object is tracked using texture data of the respective planes and geometric data between the respective planes to enable more precise tracking. The 3D object tracking method includes modeling the object to be tracked to generate a plurality of planes, and tracking the plurality of planes, respectively. The modeling of the object includes selecting points from among the plurality of planes, respectively, and calculating projective invariants using the selected points.
摘要翻译：一种3D对象跟踪方法和装置，其中要跟踪的对象的模型被划分为多个多边形平面，并且使用各个平面之间的纹理数据和各个平面之间的几何数据来跟踪对象，以使得能够进行更精确的跟踪。 3D对象跟踪方法包括对要跟踪的对象进行建模以生成多个平面，并分别跟踪多个平面。对象的建模分别包括从多个平面中选择点，并使用所选择的点来计算投影不变量。

85. 发明申请

US20120072022A1 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：US20120072022A1
公开(公告)日：2012-03-22
申请号：US13232374
申请日：2011-09-14
申请人： Myung Hee KIM , Kyung Shik Roh , Young Bo Shim , San Lim
发明人： Myung Hee KIM , Kyung Shik Roh , Young Bo Shim , San Lim
IPC分类号： B25J9/16
CPC分类号： B25J9/1679 , B25J9/1612 , B25J9/1666 , G05B2219/39113 , G05B2219/39473 , G05B2219/39474 , G05B2219/39542
摘要： A robot and a control method thereof. The robot has plural robot arms, each having at least one joint unit and a hand, and the control method includes calculating in advance and storing a plurality of grasp poses to generate grasp routes, sensing respective orientations of an object, the robot arms, and an obstacle, selecting one grasp pose from among the plurality of grasp poses by judging a movable angle range of the at least one joint unit, whether or not the object collides with the obstacle, and self-collision between the robot hands based on the sensed respective orientations, and generating grasp routes using the selected grasp pose. In the control method, the plurality of feasible grasp poses is calculated in advance and then stored, thereby rapidly and stably performing grasping of the object.
摘要翻译：机器人及其控制方法。机器人具有多个机械手臂，每个具有至少一个关节单元和手，并且该控制方法包括预先计算并存储多个抓握姿势以产生抓握路线，感测物体的各个取向，机器人手臂和障碍物，通过判断所述至少一个关节单元的可移动角度范围，所述物体是否与障碍物碰撞，以及基于所感测到的机器人手之间的自身碰撞，从所述多个抓握姿态中选择一个抓握姿态各个取向，并使用所选择的抓握姿势产生抓握路线。在该控制方法中，预先计算出多个可能抓握姿势，然后存储，由此快速且稳定地执行对象的抓握。

86. 发明申请

US20120065778A1 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：US20120065778A1
公开(公告)日：2012-03-15
申请号：US13218836
申请日：2011-08-26
申请人： Bok Man LIM , Kyung Shik Roh , Woong Kwon , Ju Suk Lee
发明人： Bok Man LIM , Kyung Shik Roh , Woong Kwon , Ju Suk Lee
IPC分类号： B25J9/00
CPC分类号： B62D57/032
摘要： A robot, which performs natural walking similar to a human with high energy efficiency through optimization of actuated dynamic walking, and a control method thereof. The robot includes an input unit to which a walking command of the robot is input, and a control unit to control walking of the robot by calculating torque input values through control variables, obtaining a resultant motion of the robot through calculation of forward dynamics using the torque input values, and minimizing a value of an objective function set to consist of the sum total of a plurality of performance indices through adjustment of the control variables.
摘要翻译：一种通过优化致动的动态行走来执行与能量效率高的人类相似的自然行走的机器人及其控制方法。机器人包括输入机器人的行走命令的输入单元和控制单元，用于通过控制变量计算转矩输入值来控制机器人的行走，通过使用前述动力学的计算来获得机器人的合成运动扭矩输入值，并且通过调整控制变量将设定为由多个性能指标的总和组成的目标函数的值最小化。

87. 发明申请

US20120059518A1 WALKING ROBOT AND CONTROL METHOD THEREOF 审中-公开
标题翻译：运动机器人及其控制方法
公开(公告)号：US20120059518A1
公开(公告)日：2012-03-08
申请号：US13210480
申请日：2011-08-16
申请人： Min Hyung Lee , Kyung Shik Roh , Woong Kwon
发明人： Min Hyung Lee , Kyung Shik Roh , Woong Kwon
IPC分类号： B25J13/08
CPC分类号： B62D57/032
摘要： A walking robot and a control method thereof. The robot includes at least one joint unit on each leg, a sensing unit to sense angle and angular velocity of the at least one joint unit, a memory unit to store data of the angle and angular velocity during stable walking, a target trajectory generation unit to generate a target trajectory, a control torque calculation unit to check stability of the at least one joint unit by comparing the sensed angle and angular velocity with the target trajectory, and, if an unstable joint unit is present, to calculate a control torque of the unstable joint unit to trace the target trajectory, and a servo control unit to transmit the calculated control torque to the unstable joint unit, thereby controlling torques of joint units using an FSM without solving the complicated dynamic equation, thus achieving stable walking.
摘要翻译：一种步行机器人及其控制方法。所述机器人在每个支腿上包括至少一个关节单元，感测单元，用于感测至少一个关节单元的角度和角速度;存储单元，用于在稳定行走期间存储角度和角速度的数据;目标轨迹生成单元以产生目标轨迹，控制扭矩计算单元，通过将感测到的角度和角速度与目标轨迹进行比较来检查至少一个关节单元的稳定性，并且如果存在不稳定的关节单元，则计算控制扭矩用于跟踪目标轨迹的不稳定关节单元，以及用于将计算出的控制扭矩传递到不稳定关节单元的伺服控制单元，从而通过使用FSM来控制关节单元的扭矩，而不需要解决复杂的动力学方程，从而实现稳定的行走。

88. 发明申请

US20110172825A1 WALKING CONTROL APPARATUS OF ROBOT AND METHOD OF CONTROLLING THE SAME 有权
标题翻译：机器人的摆动控制装置及其控制方法
公开(公告)号：US20110172825A1
公开(公告)日：2011-07-14
申请号：US12984820
申请日：2011-01-05
申请人： Min Hyung Lee , Woong Kwon , Kyung Shik Roh , Joong Kyung Park
发明人： Min Hyung Lee , Woong Kwon , Kyung Shik Roh , Joong Kyung Park
IPC分类号： B25J13/08
CPC分类号： B25J9/161
摘要： A walking control apparatus of a robot includes joint portions provided in each of a plurality of legs of the robot, a state database to store state data of each of the legs and state data of the joint portions corresponding to the state of each of the legs, when the robot walks, a position instruction unit to store desired positions corresponding to the state data of the joint portions, an inclination sensing unit to sense an inclination of an upper body of the robot, a torque calculator to calculate torques using the inclination of the upper body and the desired positions, and a servo controller to output the torques to the joint portions to control the walking of the robot. Since the robot walks by Finite State Machine (FSM) control and torque servo control, the rotation angles of the joint portions do not need to be accurately controlled. Thus, the robot walks with low servo gain and energy consumption is decreased. Since the robot walks with low servo gain, each of the joints has low rigidity and thus shock generated by collision with surroundings is decreased.
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，状态数据库，用于存储每个腿部的状态数据和对应于每个腿部的状态的关节部分的状态数据当机器人行进时，位置指令单元存储对应于关节部分的状态数据的所需位置，倾斜感测单元，用于感测机器人上身的倾斜度;扭矩计算器，用于使用倾斜度上身和所需位置，以及伺服控制器，用于将扭矩输出到接合部分，以控制机器人的行走。由于机器人通过有限状态机（FSM）控制和扭矩伺服控制，所以不需要精确地控制接合部分的旋转角度。因此，机器人行走时具有低伺服增益，能量消耗降低。由于机器人以低伺服增益行走，每个接头具有低刚度，因此与周围环境碰撞产生的冲击减少。

89. 发明申请

US20110090252A1 MARKERLESS AUGMENTED REALITY SYSTEM AND METHOD USING PROJECTIVE INVARIANT 有权
标题翻译：无标记的现实系统和使用投影不确定性的方法
公开(公告)号：US20110090252A1
公开(公告)日：2011-04-21
申请号：US12905649
申请日：2010-10-15
申请人： Suk June YOON , Kyung Shik Roh , Seung Yong Hyung , Sung Hwa Ahn
发明人： Suk June YOON , Kyung Shik Roh , Seung Yong Hyung , Sung Hwa Ahn
IPC分类号： G09G5/00
CPC分类号： G06T19/006 , G06T7/246 , G06T2207/10016
摘要： Disclosed herein are a markerless augmented reality system and method for extracting feature points within an image and providing augmented reality using a projective invariant of the feature points. The feature points are tracked in two images photographed while varying the position of an image acquisition unit, a set of feature points satisfying a plane projective invariant is obtained from the feature points, and augmented reality is provided based on the set of feature points. Accordingly, since the set of feature points satisfies the plane projective invariant even when the image acquisition unit is moved and functions as a marker, a separate marker is unnecessary. In addition, since augmented reality is provided based on the set of feature points, a total computation amount is decreased and augmented reality is more efficiently provided.
摘要翻译：这里公开了一种无标记增强现实系统和方法，用于提取图像内的特征点，并使用特征点的投影不变量提供增强现实。在改变图像获取单元的位置的同时拍摄的两幅图像中跟踪特征点，从特征点获得满足平面投影不变性的一组特征点，并且基于特征点集合提供增强现实。因此，即使图像获取单元被移动并用作标记，由于特征点集合满足平面投影不变性，因此不需要单独的标记。此外，由于基于特征点集合提供增强现实，所以总计算量减少，增强现实更有效地提供。

90. 发明申请

US20100161116A1 Robot and method of controlling balance thereof 有权
标题翻译：机器人及其平衡方法
公开(公告)号：US20100161116A1
公开(公告)日：2010-06-24
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。

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