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1. 发明授权

US07068814B2 Visual tracking method by color information 有权
标题翻译：视觉跟踪方法通过颜色信息
公开(公告)号：US07068814B2
公开(公告)日：2006-06-27
申请号：US09903515
申请日：2001-07-13
申请人： Bum Jae You , Sang Rok Oh , Yong Beom Lee
发明人： Bum Jae You , Sang Rok Oh , Yong Beom Lee
IPC分类号： G06K9/00
CPC分类号： G06T7/254
摘要： A method of visual tracking with use of color includes the step of three-dimensional color modeling of the target, the step of target recognition for initially perceiving the target, and the step of visual tracking for repetitive visual tracking. In order to be robust to irregular or abrupt changes of illumination, the present invention provides a visual tracking method in which characteristics of the photographing element (CCD or CMOS) used by the camera are analyzed beforehand and the results of the analysis are modeled by a B-spline curve, allowing effects of the real-time visual tracking and adaptability to situations of rapid target movement.
摘要翻译：使用颜色的视觉跟踪的方法包括目标的三维颜色建模的步骤，用于初始感知目标的目标识别的步骤以及用于重复的视觉跟踪的视觉跟踪的步骤。为了对于照明的不规则或突然的变化是鲁棒的，本发明提供了一种视觉跟踪方法，其中预先分析由相机使用的拍摄元件（CCD或CMOS）的特性，并且分析结果由 B样条曲线，允许实时视觉跟踪和适应性快速目标运动的情况的影响。

2. 发明授权

US06731392B2 Marker used for measuring displacement of moving object and method therefor 有权
标题翻译：用于测量移动物体位移的标记及其方法
公开(公告)号：US06731392B2
公开(公告)日：2004-05-04
申请号：US10020298
申请日：2001-12-18
申请人： Seok Ho Kim , Sam Yong Chung , Song Soo Han , Sang Heon Lee , Bum Jae You , Sang Rok Oh , Mee Seub Lim
发明人： Seok Ho Kim , Sam Yong Chung , Song Soo Han , Sang Heon Lee , Bum Jae You , Sang Rok Oh , Mee Seub Lim
IPC分类号： G01B1114
CPC分类号： G01D5/347
摘要： The present invention discloses a displacement measurement marker capable of measuring displacement of an object moving on a plane by using a line scan camera, and a displacement measurement method using the same. The displacement measurement marker according to the present invention comprises a plurality of repeatedly arranged figures having the same size and shape. Each of the figures is measurable by means of the line scan camera and is asymmetric with respect to a direction of a scan line of the line scan camera. Preferably, each of the figures is a right-angled triangle of which base is a horizontal line. According to the present invention, there are advantages in that a two-dimensional planar motion of the object can be measured from one-dimensional linear image data, and the motion of the object which moves at a high speed or on which an impact is exerted can be accurately measured.
摘要翻译：本发明公开了一种能够通过使用线扫描照相机来测量在平面上移动的物体的位移的位移测量标记，以及使用其的位移测量方法。根据本发明的位移测量标记包括具有相同尺寸和形状的多个重复排列的图形。每个图可以通过行扫描照相机来测量，并且相对于行扫描照相机的扫描线的方向是不对称的。优选地，每个图是直角三角形，其中基座是水平线。根据本发明，可以从一维线性图像数据和高速移动或发生冲击的物体的运动来测量物体的二维平面运动的优点在于，可以准确测量。

3. 发明授权

US06731089B2 Flexible and compact motor control module based on the can communication network 失效
标题翻译：基于可通信网络的灵活紧凑的电机控制模块
公开(公告)号：US06731089B2
公开(公告)日：2004-05-04
申请号：US09996915
申请日：2001-11-30
申请人： Young Jo Cho , Sung On Lee , Bum Jae You , Sang Rok Oh
发明人： Young Jo Cho , Sung On Lee , Bum Jae You , Sang Rok Oh
IPC分类号： G05B1101
CPC分类号： H02P7/2805
摘要： The present invention relates to a flexible and compact motor control module based on the Controller Area Network (CAN) communication network. More specifically, the present invention relates to a motor control module which is based on the ISO11898 standard Controller Area Network (CAN), recognized for its suitability in the communication of intelligent sensors and actuators, and also capable of obtaining the location, speed and torque control commands of a motor and executing digital control functions irrespective of motor's type and power consumption, transmitting feedback data.
摘要翻译：本发明涉及一种基于控制器局域网（CAN）通信网络的灵活紧凑的电机控制模块。更具体地，本发明涉及一种基于ISO11898标准控制器局域网（CAN）的电动机控制模块，其被认为是智能传感器和致动器的通信中的适用性，并且还能够获得位置，速度和扭矩控制电机的命令，执行数字控制功能，无论电机的类型和功耗如何，都能传输反馈数据。

4. 发明申请

US20080281469A1 Method For Controlling the Walk of Humanoid Robot 有权
标题翻译：控制人型机器人步行的方法
公开(公告)号：US20080281469A1
公开(公告)日：2008-11-13
申请号：US12090350
申请日：2005-10-24
申请人： Young Jin Choi , Do Ik Kim , Yong Hwan Oh , Chang Hwan Kim , Bum Jae You , Jung San Cho
发明人： Young Jin Choi , Do Ik Kim , Yong Hwan Oh , Chang Hwan Kim , Bum Jae You , Jung San Cho
IPC分类号： G05B19/19
CPC分类号： B62D57/032
摘要： The invention relates to a method for controlling walking of humanoid bipedal walking robot. More specifically, the invention comprises steps of designing a zero momentum position (ZMP) of a robot for the ground surface (a); calculating trajectories of a center of gravity (COG) of the robot along with the trajectory of the ZMP (b); calculating an angular velocity of driving motors of two feet, which has the robot walk according to the trajectory of the ZMP (c); and controlling walking of the robot by driving the driving motors according to the angular velocity of the driving motors calculated above. The robot walking control method according to the invention has stability against disturbances.
摘要翻译：本发明涉及一种用于控制人形二足步行机器人步行的方法。更具体地，本发明包括设计用于地面（a）的机器人的零动量位置（ZMP）的步骤。计算机器人的重心（COG）轨迹与ZMP（b）的轨迹的轨迹; 计算具有根据ZMP（c）的轨迹的机器人行走的两英尺的驱动电动机的角速度; 以及通过根据上述计算的驱动马达的角速度驱动驱动马达来控制机器人的行走。根据本发明的机器人步行控制方法具有抗干扰的稳定性。

5. 发明授权

US08738178B2 Method for controlling the walk of humanoid robot 有权
标题翻译：控制人形机器人步行的方法
公开(公告)号：US08738178B2
公开(公告)日：2014-05-27
申请号：US12090350
申请日：2005-10-24
申请人： Young Jin Choi , Do Ik Kim , Yong Hwan Oh , Chang Hwan Kim , Bum Jae You , Jung San Cho
发明人： Young Jin Choi , Do Ik Kim , Yong Hwan Oh , Chang Hwan Kim , Bum Jae You , Jung San Cho
IPC分类号： G05B19/18
CPC分类号： B62D57/032
摘要： The invention relates to a method for controlling walking of humanoid bipedal walking robot. More specifically, the invention comprises steps of designing a zero momentum position (ZMP) of a robot for the ground surface (a); calculating trajectories of a center of gravity (COG) of the robot along with the trajectory of the ZMP (b); calculating an angular velocity of driving motors of two feet, which has the robot walk according to the trajectory of the ZMP (c); and controlling walking of the robot by driving the driving motors according to the angular velocity of the driving motors calculated above. The robot walking control method according to the invention has stability against disturbances.
摘要翻译：本发明涉及一种用于控制人形二足步行机器人步行的方法。更具体地，本发明包括设计用于地面（a）的机器人的零动量位置（ZMP）的步骤。计算机器人的重心（COG）轨迹与ZMP（b）的轨迹的轨迹; 计算具有根据ZMP（c）的轨迹的机器人行走的两英尺的驱动电动机的角速度; 以及通过根据上述计算的驱动马达的角速度驱动驱动马达来控制机器人的行走。根据本发明的机器人步行控制方法具有抗干扰的稳定性。

6. 发明授权

US08126594B2 Method of generating a walking pattern for a humanoid robot 有权
标题翻译：生成人形机器人步行图案的方法
公开(公告)号：US08126594B2
公开(公告)日：2012-02-28
申请号：US12260173
申请日：2008-10-29
申请人： Seok Min Hong , Yong Hwan Oh , Young Hwan Chang , Do Ik Kim , Bum Jae You
发明人： Seok Min Hong , Yong Hwan Oh , Young Hwan Chang , Do Ik Kim , Bum Jae You
IPC分类号： G05B19/04 , G05B19/18
CPC分类号： B62D57/032
摘要： The present invention may provide a method of generating a walking pattern for a humanoid robot. The method of generating the walking pattern for the humanoid includes determining a position of a next Zero Moment Point (ZMP) along a moving direction of the humanoid robot, obtaining a first condition for generating a walking pattern based on the determined ZMP by using a periodic step module, generating trajectories of a ZMP and a Center of Mass (CoM) in an initial step based on the first condition and an initial value obtained from an initial state of the humanoid robot by using a transient step module, generating trajectories of a ZMP and a CoM in a steady step based on the ZMP of two steps by using a steady step module, and generating trajectories of a ZMP and a CoM in a final step by using the transient step module.
摘要翻译：本发明可以提供一种生成人形机器人的步行图案的方法。用于生成人形生物的步行图案的方法包括确定沿类人形机器人的移动方向的下一个零时刻点（ZMP）的位置，通过使用周期性的方法获得基于所确定的ZMP产生步行模式的第一条件基于第一条件在初始步骤中产生ZMP和质量中心（CoM）的轨迹，以及通过使用瞬态步进模块从人形机器人的初始状态获得的初始值，生成ZMP的轨迹以及通过使用稳定的步进模块基于两步的ZMP在稳定步骤中的CoM，并且通过使用瞬态步骤模块在最终步骤中生成ZMP和CoM的轨迹。

7. 发明申请

US20090271037A1 METHOD OF GENERATING A WALKING PATTERN FOR A HUMANOID ROBOT 有权
标题翻译：生成人类机器人运动模式的方法
公开(公告)号：US20090271037A1
公开(公告)日：2009-10-29
申请号：US12260173
申请日：2008-10-29
申请人： Seok Min Hong , Yong Hwan Oh , Young Hwan Chang , Do Ik Kim , Bum Jae You
发明人： Seok Min Hong , Yong Hwan Oh , Young Hwan Chang , Do Ik Kim , Bum Jae You
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： The present invention may provide a method of generating a walking pattern for a humanoid robot. The method of generating the walking pattern for the humanoid includes determining a position of a next Zero Moment Point (ZMP) along a moving direction of the humanoid robot, obtaining a first condition for generating a walking pattern based on the determined ZMP by using a periodic step module, generating trajectories of a ZMP and a Center of Mass (CoM) in an initial step based on the first condition and an initial value obtained from an initial state of the humanoid robot by using a transient step module, generating trajectories of a ZMP and a CoM in a steady step based on the ZMP of two steps by using a steady step module, and generating trajectories of a ZMP and a CoM in a final step by using the transient step module.
摘要翻译：本发明可以提供一种生成人形机器人的步行图案的方法。用于生成人形生物的步行图案的方法包括确定沿类人形机器人的移动方向的下一个零时刻点（ZMP）的位置，通过使用周期性的方法获得基于所确定的ZMP产生步行模式的第一条件基于第一条件在初始步骤中产生ZMP和质量中心（CoM）的轨迹，以及通过使用瞬态步进模块从人形机器人的初始状态获得的初始值，生成ZMP的轨迹以及通过使用稳定的步进模块基于两步的ZMP在稳定步骤中的CoM，并且通过使用瞬态步骤模块在最终步骤中生成ZMP和CoM的轨迹。

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