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1. 发明授权

US08768512B2 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：US08768512B2
公开(公告)日：2014-07-01
申请号：US13327857
申请日：2011-12-16
申请人： San Lim , Myung Hee Kim , Kyung Shik Roh , Young Bo Shim , Bok Man Lim
发明人： San Lim , Myung Hee Kim , Kyung Shik Roh , Young Bo Shim , Bok Man Lim
IPC分类号： G05B19/04
CPC分类号： B25J9/1669 , B25J9/162 , G05B2219/39113 , G05B2219/40244 , G05B2219/40264 , G05B2219/40395
摘要： A robot and a control method thereof. The control method includes generating and storing plural grasping motions corresponding to data of a target object, selecting a grasping motion corresponding to a grasping purpose of the target object among the plural grasping motions, generating a path of arms corresponding to the selected grasping motion, calculating torques to track the path of the arms, and outputting the torques toward the arms so as to perform movement of the arms and grasping of the target object. The grasping motion path corresponding to the grasping purpose is generated and the path of arms is generated, thereby reducing overall calculation time during grasping of the target object to increase calculating efficiency, minimizing generation of the path of the arms, and allowing an arm path calculating process to be performed at the late stage of a grasping control process to improve grasping performance.
摘要翻译：机器人及其控制方法。控制方法包括生成并存储与目标对象的数据相对应的多个抓取动作，在多个抓取动作中选择与目标对象的抓取目的相对应的抓取动作，生成与所选择的抓握动作对应的臂的路径，计算扭矩以跟踪臂的路径，并且朝向臂输出扭矩，以便执行臂的移动和抓取目标对象。产生对应于抓握目的的抓握运动路径，并且产生臂的路径，从而减少在抓取目标对象期间的总体计算时间，以增加计算效率，最小化臂的路径的产生，并允许臂路径计算在抓握控制过程的后期执行处理以提高抓握性能。

2. 发明授权

US08483874B2 Path planning apparatus of robot and method and computer-readable medium thereof 有权
标题翻译：机器人路径规划设备及其计算机可读介质
公开(公告)号：US08483874B2
公开(公告)日：2013-07-09
申请号：US12903653
申请日：2010-10-13
申请人： Myung Hee Kim , San Lim , Kyung Shik Roh , Bok Man Lim
发明人： Myung Hee Kim , San Lim , Kyung Shik Roh , Bok Man Lim
IPC分类号： G05B19/18
CPC分类号： B25J9/1664 , G05B2219/40519
摘要： A path planning apparatus of a robot smoothes a motion path while satisfying a constraint. In a configuration space where a manipulator of a robot performs a task, a Rapidly-exploring Random Tree (RRT) path which extends from a start point and reaches a goal point may be smoothed while satisfying a constraint to generate a stable motion path. Accordingly, path planning performance is improved and an optimal path satisfying a kinematic constraint may be rapidly obtained.
摘要翻译：机器人的路径规划装置在满足约束条件下平滑运动路径。在机器人的机械手执行任务的配置空间中，可以在满足约束以产生稳定的运动路径的同时平滑从起始点到达目标点的快速探索随机树（RRT）路径。因此，路径规划性能得到改善，并且可以快速获得满足运动约束的最佳路径。

3. 发明授权

US08352074B2 Path planning apparatus and method of robot 有权
标题翻译：机器人路径规划设备及方法
公开(公告)号：US08352074B2
公开(公告)日：2013-01-08
申请号：US12805269
申请日：2010-07-21
申请人： Guochunxu , Kyung Shik Roh , San Lim , Bok Man Lim , Myung Hee Kim
发明人： Guochunxu , Kyung Shik Roh , San Lim , Bok Man Lim , Myung Hee Kim
IPC分类号： G05B19/18
CPC分类号： B25J9/1664 , G05B2219/40455
摘要： A path planning apparatus and method of a robot, in which a path, along which the robot accesses an object to grasp the object, is planned. The path planning method includes judging whether or not a robot hand of a robot collides with an obstacle when the robot hand moves along one access path candidate selected from plural access path candidates along which the robot hand accesses an object to grasp the object, calculating an access score of the selected access path candidate when the robot hand does not collide with the obstacle, and determining an access path plan using the access score of the selected access path candidate.
摘要翻译：机器人的路径规划装置和方法，其中计划机器人访问物体以抓住对象的路径。所述路径规划方法包括：当所述机器人手从沿着所述机器人手访问对象的多个访问路径候选者中选择的一个访问路径候选者移动时，判断机器人的机器人手是否与障碍物碰撞以掌握所述对象，当机器人手不与障碍物碰撞时所选择的访问路径候选者的访问分数，以及使用所选择的访问路径候选者的访问分数来确定访问路径规划。

4. 发明申请

US20120158183A1 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：US20120158183A1
公开(公告)日：2012-06-21
申请号：US13283761
申请日：2011-10-28
申请人： Bok Man LIM , Kyung Shik Roh , Woong Kwon , Min Hyung Lee
发明人： Bok Man LIM , Kyung Shik Roh , Woong Kwon , Min Hyung Lee
IPC分类号： G05B15/00
CPC分类号： B25J9/162 , G05B2219/40244
摘要： A robot which naturally walks with high energy efficiency similar to a human through optimization of actuated dynamic walking, and a control method thereof. The control method includes defining a plurality of unit walking motions, in which stride, velocity, rotating angle and direction of the robot are designated, through combination of parameters to generate target joint paths, and constructing a database in which the plurality of unit walking motions is stored, setting an objective path up to an objective position, performing interpretation of the objective path as unit walking motions, generating walking patterns consisting of at least one unit walking motion to cause the robot to walk along the objective path based on the interpretation of the objective path, and allowing the robot to walk based on the walking patterns.
摘要翻译：通过优化致动的动态行走，自然地以与人类相似的高能效行走的机器人及其控制方法。控制方法包括：通过组合参数来定义多个单位行走运动，其中指定机器人的步幅，速度，旋转角度和方向，以产生目标关节路径，以及构建数据库，其中多个单元行走运动存储目标路径，直到目标位置，将目标路径作为单位走路动作进行解释，生成由至少一个单元行走运动构成的行走模式，以使机器人基于对目标路径的解释进行行走客观路径，并允许机器人基于行走模式走路。

5. 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。

6. 发明授权

US08825209B2 Method and apparatus to plan motion path of robot 有权
标题翻译：计算机器人运动路径的方法和装置
公开(公告)号：US08825209B2
公开(公告)日：2014-09-02
申请号：US12805271
申请日：2010-07-21
申请人： Myung Hee Kim , Kyung Shik Roh , San Lim , Bok Man Lim , Guo Chunxu
发明人： Myung Hee Kim , Kyung Shik Roh , San Lim , Bok Man Lim , Guo Chunxu
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , G05B2219/40264 , G05D1/0214 , G05D2201/0217
摘要： If a manipulator of a robot falls in local minima when expanding a node to generate a path, the manipulator may efficiently escape from local minima by any one of a random escaping method and a goal function changing method or a combination thereof to generate the path. When the solution of inverse kinematics is not obtained due to local minima or when the solution of inverse kinematics is not obtained due to an inaccurate goal function, an optimal motion path to avoid an obstacle may be efficiently searched for. The speed to obtain the solution may be increased and thus the time consumed to search for the optimal motion path may be shortened.
摘要翻译：如果在扩展节点以生成路径时机器人的操纵器落入局部最小值中，则操纵器可以通过随机转义方法和目标函数改变方法或其组合中的任何一种来有效地从本地最小值逃逸以生成路径。当由于局部最小值而不能获得反向运动学的解时，或者由于不准确的目标函数而不能获得反向运动学的解，可以有效地搜索避免障碍物的最佳运动路径。获得解决方案的速度可能会增加，从而可以缩短搜索最佳运动路径所消耗的时间。

7. 发明授权

US08805583B2 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：US08805583B2
公开(公告)日：2014-08-12
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： G05B19/04 , G05B19/18
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。

8. 发明申请

US20110040407A1 APPARATUS AND METHOD FOR STABILIZING HUMANOID ROBOT 有权
标题翻译：用于稳定人类机器人的装置和方法
公开(公告)号：US20110040407A1
公开(公告)日：2011-02-17
申请号：US12850085
申请日：2010-08-04
申请人： Bok Man LIM , Kyung Shik Roh , San Lim , Myung Hee Kim , Guo Chun Xu
发明人： Bok Man LIM , Kyung Shik Roh , San Lim , Myung Hee Kim , Guo Chun Xu
IPC分类号： G05B19/04 , G05B15/00
CPC分类号： B25J9/162 , B25J9/1638 , G05B2219/39215 , G05B2219/39325 , G05B2219/40264
摘要： Disclosed is a humanoid robot apparatus, method and computer-readable medium thereof related to lifting and holding a heavy object having a weight unknown to the robot, by measuring an external force acting on the robot. Linear momentum and rotational momentum are compensated for stepwise according to the degree of stability of the robot which is determined based on the measured external force. Accordingly, the robot stably lifts and holds the object without losing its balance.
摘要翻译：公开了一种人形机器人装置，方法和计算机可读介质，其涉及通过测量作用在机器人上的外力来提升和保持具有机器人未知的重量的重物体。根据基于测量的外力确定的机器人的稳定度，逐步补偿线性动量和旋转动量。因此，机器人稳定地提升并保持物体而不失去平衡。

9. 发明授权

US09044862B2 Path planning apparatus and method for robot 有权
标题翻译：机器人路径规划设备及方法
公开(公告)号：US09044862B2
公开(公告)日：2015-06-02
申请号：US12805514
申请日：2010-08-03
申请人： Myung Hee Kim , Kyung Shik Roh , San Lim , Bok Man Lim , Guo Chunxu
发明人： Myung Hee Kim , Kyung Shik Roh , San Lim , Bok Man Lim , Guo Chunxu
IPC分类号： G01C21/34 , B25J9/16 , G01C22/00 , G05B19/04 , G05B19/18
CPC分类号： B25J9/1666 , G05B2219/40264
摘要： Disclosed herein are a path planning apparatus and a method for a robot to plan an optimal path along which a manipulator of a robot moves to a goal point from a start point. An obstacle within a prescribed angle on a straight line connecting a start point and a goal point is recognized as a middle point in a configuration space and arbitrary points separated from the middle point by a prescribed distance are selected. Among the selected points, arbitrary points which can directly connect the start point and the goal point without passing the obstacle are selected as waypoints to map a new middle node. A path is extended via the middle node and extension of a tree in a wrong direction is minimized so that the manipulator is not struck at local minima without depending greatly on a goal score, thereby improving the performance of path planning and rapidly searching for a path.
摘要翻译：这里公开了一种路径规划装置和机器人方法，用于规划机器人的操纵器从起始点移动到目标点的最佳路径。在连接起点和目标点的直线上的规定角度内的障碍物被识别为配置空间中的中点，并且选择与中点分开规定距离的任意点。在所选点中，选择可以直接连接起点和目标点而不通过障碍物的任意点作为路点，以映射新的中间节点。通过中间节点扩展路径，将错误方向的树的扩展最小化，使得操纵器不会受到局部最小值的攻击，而不依赖于目标分数，从而提高路径规划的性能并快速搜索路径。

10. 发明授权

US08818555B2 Path planning apparatus of robot and method and computer-readable medium thereof 有权
标题翻译：机器人路径规划设备及其计算机可读介质
公开(公告)号：US08818555B2
公开(公告)日：2014-08-26
申请号：US12909340
申请日：2010-10-21
申请人： Myung Hee Kim , Bok Man Lim , Kyung Shik Roh , San Lim
发明人： Myung Hee Kim , Bok Man Lim , Kyung Shik Roh , San Lim
IPC分类号： G05B19/04 , B25J9/06
CPC分类号： B25J9/1666 , G05B2219/40264 , G05B2219/40517 , G05D1/0214 , G05D2201/0217
摘要： An apparatus, method and computer-readable medium planning a path of a robot by planning an optimal path while satisfying a dynamic constraint. In a process of searching for a motion path from a start point to a goal point while extending a tree from a start point of a configuration space to generate a path, along which a manipulator of the robot is moved in order to perform a task, an optimal path is generated responsive to the dynamic constraint of the manipulator of the robot to generate stable motion satisfying momentum and Zero Moment Position (ZMP) constraint. Accordingly, path planning performance is improved and a path satisfying a kinematic constraint and a dynamic constraint is rapidly obtained.
摘要翻译：一种通过在满足动态约束的同时规划最佳路径来规划机器人的路径的装置，方法和计算机可读介质。在从起始点到目标点搜索运动路径的过程中，同时从配置空间的起始点延伸树以生成路径，为此执行机器人的操纵器以便执行任务，响应于机器人的操纵器的动态约束产生最佳路径以产生满足动量和零矩位置（ZMP）约束的稳定运动。因此，提高了路径规划性能，并且快速获得满足运动约束和动态约束的路径。

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