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1. 发明申请

US20110178639A1 HUMANOID ROBOT AND WALKING CONTROL METHOD THEREOF 有权
标题翻译：人机器人及其操纵控制方法
公开(公告)号：US20110178639A1
公开(公告)日：2011-07-21
申请号：US13006782
申请日：2011-01-14
申请人： Woong KWON , Joong Kyung PARK , Ju Suk LEE , Chang Hyun ROH , Min Hyung LEE , Jae Ho PARK , Joo Hyung KIM , Ho Seong KWAK
发明人： Woong KWON , Joong Kyung PARK , Ju Suk LEE , Chang Hyun ROH , Min Hyung LEE , Jae Ho PARK , Joo Hyung KIM , Ho Seong KWAK
IPC分类号： B25J13/08
CPC分类号： B62D57/032
摘要： A humanoid robot that achieves stable walking based on servo control of a joint torque and a walking control method thereof. The humanoid robot calculates a joint position trajectory compensation value and a joint torque compensation value using a measurement value of a sensor, compensates for a joint position trajectory and a joint torque using the calculated compensation value, and drives a motor mounted to each joint according to the compensated joint torque.
摘要翻译：一种基于关节扭矩的伺服控制实现稳定行走的人形机器人及其步行控制方法。类人形机器人使用传感器的测量值来计算关节位置轨迹补偿值和关节扭矩补偿值，使用计算出的补偿值来补偿关节位置轨迹和关节扭矩，并且驱动安装到每个关节的马达根据补偿关节扭矩。

2. 发明申请

US20110172817A1 WALKING ROBOT AND METHOD OF CONTROLLING BALANCE THEREOF 有权
标题翻译：运动机器人和控制平衡的方法
公开(公告)号：US20110172817A1
公开(公告)日：2011-07-14
申请号：US12978917
申请日：2010-12-27
申请人： Joong Kyung Park , Woong Kwon
发明人： Joong Kyung Park , Woong Kwon
IPC分类号： G06F19/00
CPC分类号： B62D57/032 , B25J9/162 , B25J9/1638
摘要： Disclosed herein are a walking robot which controls balance using an ankle when the robot walks, and a method of controlling balance thereof. In a method of determining an angle of an ankle joint without solving a complicated dynamic equation such that the robot stays balanced so as not to fall, an angle of the ground is fixed as a reference angle for balance control of the robot such that the robot stably walks while maintaining the same balance control performance even when the ground is inclined. When the robot moves slowly or quickly, the robot may maintain balance. Since the robot stays balanced using the ankle of a stance leg even when the ground is inclined, the method is simple and is applied to a robot having joints with 6 degrees of freedom.
摘要翻译：这里公开了一种在机器人行走时使用脚踝控制平衡的行走机器人，以及控制其平衡的方法。在不求解复杂的动力学方程式的情况下确定踝关节的角度的方法中，机器人保持平衡以便不会下降，因此将机器人的平衡控制作为参考角度固定在地面的角度，使得机器人即使在地面倾斜的情况下，也能保持相同的平衡控制性能，同时稳定地行走。当机器人缓慢或快速移动时，机器人可以保持平衡。由于即使在地面倾斜的情况下机器人仍然使用立体脚踝平衡，所以该方法简单，并且适用于具有6自由度的关节的机器人。

3. 发明申请

US20080246692A1 FOLDABLE MULTI-DISPLAY APPARATUS 审中-公开
标题翻译：可折叠多画面设备
公开(公告)号：US20080246692A1
公开(公告)日：2008-10-09
申请号：US11954299
申请日：2007-12-12
申请人： Jae-Woo JEONG , In-seo KEE , Joong-kyung PARK , Young-gu LEE , Hong-shik SHIM
发明人： Jae-Woo JEONG , In-seo KEE , Joong-kyung PARK , Young-gu LEE , Hong-shik SHIM
IPC分类号： G09G5/00
CPC分类号： G06F1/1681 , G06F1/1618 , G06F1/1641 , H04M1/0216 , H04M1/0235 , H04M2250/16
摘要： Provided is a foldable multi-display apparatus that forms a foldable type large screen by connecting housings in which unit display panels are supported. The foldable multi-display apparatus includes a sliding member that moves the unit display panel supported by the housing towards the adjacent unit display panel when an unfolding operation is completed. The foldable multi-display apparatus can prevent scratching between the unit display panels during unfolding operations, thereby having increased reliability and lifespan.
摘要翻译：提供一种通过连接支撑单元显示面板的壳体形成折叠式大屏幕的可折叠多显示装置。可折叠多显示装置包括滑动构件，当展开操作完成时，滑动构件将由壳体支撑的单元显示面板朝向相邻单元显示面板移动。可折叠多显示装置可以防止在展开操作期间单元显示面板之间的划伤，从而具有增加的可靠性和寿命。

4. 发明授权

US09079624B2 Walking robot and method of controlling balance thereof 有权
标题翻译：步行机器人及其平衡方法
公开(公告)号：US09079624B2
公开(公告)日：2015-07-14
申请号：US12978917
申请日：2010-12-27
申请人： Joong Kyung Park , Woong Kwon
发明人： Joong Kyung Park , Woong Kwon
IPC分类号： G06F19/00 , B62D57/032 , B25J9/16
CPC分类号： B62D57/032 , B25J9/162 , B25J9/1638
摘要： Disclosed herein are a walking robot which controls balance using an ankle when the robot walks, and a method of controlling balance thereof. In a method of determining an angle of an ankle joint without solving a complicated dynamic equation such that the robot stays balanced so as not to fall, an angle of the ground is fixed as a reference angle for balance control of the robot such that the robot stably walks while maintaining the same balance control performance even when the ground is inclined. When the robot moves slowly or quickly, the robot may maintain balance. Since the robot stays balanced using the ankle of a stance leg even when the ground is inclined, the method is simple and is applied to a robot having joints with 6 degrees of freedom.
摘要翻译：这里公开了一种在机器人行走时使用脚踝控制平衡的行走机器人，以及控制其平衡的方法。在不求解复杂的动力学方程式的情况下确定踝关节的角度的方法中，机器人保持平衡以便不会下降，因此将机器人的平衡控制作为参考角度固定在地面的角度，使得机器人即使在地面倾斜的情况下，也能保持相同的平衡控制性能，同时稳定地行走。当机器人缓慢或快速移动时，机器人可以保持平衡。由于即使在地面倾斜的情况下机器人仍然使用立体脚踝平衡，所以该方法简单，并且适用于具有6自由度的关节的机器人。

5. 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。

6. 发明申请

US20090319082A1 ROBOT AND METHOD OF CONTROLLING WALKING THEREOF 有权
标题翻译：机器人及其操纵方法
公开(公告)号：US20090319082A1
公开(公告)日：2009-12-24
申请号：US12427009
申请日：2009-04-21
申请人： Woong KWON , Joong Kyung Park , Chang Hyun Roh , Jae Ho Park , Ho Seong Kwak
发明人： Woong KWON , Joong Kyung Park , Chang Hyun Roh , Jae Ho Park , Ho Seong Kwak
IPC分类号： G05B19/04
CPC分类号： B62D57/032
摘要： A method of controlling walking a biped robot to generate a walking pattern maximally similar to that of a human includes generating a walking pattern, calculating a walking pattern similarity corresponding to the walking pattern, and comparing the walking pattern similarity with a predetermined reference pattern similarity, and changing the walking pattern based on a result of the comparison. When the robot walks, a knee is maximally stretched and a horizontal movement of a waist is minimized such that the walking pattern of the robot is maximally similar to that of a human, thus enhancing an affinity for a human being and increasing energy efficiency.
摘要翻译：控制步行二足动物机器人以产生最大程度上类似于人类的行走图案的方法包括：生成行走图案，计算与行走图案相对应的步行图案相似度，以及将步行图案相似度与预定参考图案相似度进行比较，并根据比较结果改变行走模式。当机器人行走时，膝盖被最大程度地拉伸，并且腰部的水平运动被最小化，使得机器人的行走模式与人的行走模式最大程度上相似，从而增强了对人的亲和力并提高了能量效率。

7. 发明授权

US09221507B2 Robot and method of controlling walking thereof 有权
标题翻译：机器人及其行走方法
公开(公告)号：US09221507B2
公开(公告)日：2015-12-29
申请号：US12427009
申请日：2009-04-21
申请人： Woong Kwon , Joong Kyung Park , Chang Hyun Roh , Jae Ho Park , Ho Seong Kwak
发明人： Woong Kwon , Joong Kyung Park , Chang Hyun Roh , Jae Ho Park , Ho Seong Kwak
IPC分类号： B62D57/032
CPC分类号： B62D57/032
摘要： A method of controlling walking a biped robot to generate a walking pattern maximally similar to that of a human includes generating a walking pattern, calculating a walking pattern similarity corresponding to the walking pattern, and comparing the walking pattern similarity with a predetermined reference pattern similarity, and changing the walking pattern based on a result of the comparison. When the robot walks, a knee is maximally stretched and a horizontal movement of a waist is minimized such that the walking pattern of the robot is maximally similar to that of a human, thus enhancing an affinity for a human being and increasing energy efficiency.
摘要翻译：控制步行二足动物机器人以产生最大程度上类似于人类的行走图案的方法包括：生成行走图案，计算与行走图案相对应的步行图案相似度，以及将步行图案相似度与预定参考图案相似度进行比较，并根据比较结果改变行走模式。当机器人行走时，膝盖被最大程度地拉伸，并且腰部的水平运动被最小化，使得机器人的行走模式与人的行走模式最大程度上相似，从而增强了对人的亲和力并提高了能量效率。

8. 发明授权

US08868239B2 Walking control apparatus of robot and method of controlling the same 有权
标题翻译：机器人步行控制装置及其控制方法
公开(公告)号：US08868239B2
公开(公告)日：2014-10-21
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： G05B15/00 , B25J9/16 , G05B19/00
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。

9. 发明授权

US08676381B2 Humanoid robot and walking control method thereof 有权
标题翻译：人型机器人及其步行控制方法
公开(公告)号：US08676381B2
公开(公告)日：2014-03-18
申请号：US13006782
申请日：2011-01-14
申请人： Woong Kwon , Joong Kyung Park , Ju Suk Lee , Chang Hyun Roh , Min Hyung Lee , Jae Ho Park , Joo Hyang Kim , Ho Seong Kwak
发明人： Woong Kwon , Joong Kyung Park , Ju Suk Lee , Chang Hyun Roh , Min Hyung Lee , Jae Ho Park , Joo Hyang Kim , Ho Seong Kwak
IPC分类号： B25J17/00
CPC分类号： B62D57/032
摘要： A humanoid robot that achieves stable walking based on servo control of a joint torque and a walking control method thereof. The humanoid robot calculates a joint position trajectory compensation value and a joint torque compensation value using a measurement value of a sensor, compensates for a joint position trajectory and a joint torque using the calculated compensation value, and drives a motor mounted to each joint according to the compensated joint torque.
摘要翻译：一种基于关节扭矩的伺服控制实现稳定行走的人形机器人及其步行控制方法。类人形机器人使用传感器的测量值来计算关节位置轨迹补偿值和关节扭矩补偿值，使用计算出的补偿值来补偿关节位置轨迹和关节扭矩，并且驱动安装到每个关节的马达根据补偿关节扭矩。

10. 发明申请

US20110172824A1 WALKING ROBOT AND METHOD OF CONTROLLING THE SAME 审中-公开
标题翻译：运动机器人及其控制方法
公开(公告)号：US20110172824A1
公开(公告)日：2011-07-14
申请号：US12979436
申请日：2010-12-28
申请人： Joong Kyung PARK , Kyung Shik Roh , Woong Kwon , Min Hyung Lee , Ho Seong Kwak
发明人： Joong Kyung PARK , Kyung Shik Roh , Woong Kwon , Min Hyung Lee , Ho Seong Kwak
IPC分类号： B25J9/10
CPC分类号： B62D57/032 , B25J9/1648 , G05B2219/23289
摘要： Disclosed herein are an apparatus and method for controlling stable walking of a robot based on torque. In a method of enabling stable walking by controlling torque of a hip joint portion using a Finite State Machine (FSM) without solving a complicated dynamic equation, torque of a stance leg is finally calculated using pose control torque of an upper body, pose control torque of a swing leg, and initial pose control torque of a stance leg supporting the upper body. Accordingly, the robot may stably walk with torque balance. Since gravity compensation torque is applied, a torso of the robot is not inclined and the pose of the robot is stably maintained.
摘要翻译：这里公开了一种用于基于扭矩控制机器人的稳定行走的装置和方法。在通过使用有限状态机（FSM）来控制髋关节部的扭矩而不求解复杂的动力学方式的情况下，能够进行稳定行走的方法，最后使用上身的姿势控制扭矩来计算姿势腿的扭矩，姿势控制扭矩的摆动腿，以及支撑上身的支撑腿的初始姿势控制扭矩。因此，机器人可以以扭矩平衡稳定地行走。由于施加了重力补偿扭矩，所以机器人的躯干不会倾斜，机器人的姿势得到稳定的保持。

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