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1. 发明授权

US09376151B2 Walking robot and control method thereof 有权
标题翻译：步行机器人及其控制方法
公开(公告)号：US09376151B2
公开(公告)日：2016-06-28
申请号：US13293465
申请日：2011-11-10
申请人： Jae Ho Park , Kyung Shik Roh , Woong Kwon , Joo Hyung Kim , Ju Suk Lee
发明人： Jae Ho Park , Kyung Shik Roh , Woong Kwon , Joo Hyung Kim , Ju Suk Lee
IPC分类号： B25J9/18 , B62D57/032 , B25J9/16
CPC分类号： B62D57/032 , B25J9/162 , B25J9/1664 , G05B2219/40244
摘要： A walking robot and a control method thereof. The control method includes performing transition of a second leg to a toe-off state, when ground reaction force applied to a first leg exceeds a first set value under the condition that the first leg is in a swing state and the second leg is in a support state, performing transition of the second leg to the swing state and transition of the first leg to the support state, when ground reaction force applied to the second leg is below a second set value under the condition that the second leg is in the toe-off state, and achieving walking of the walking robot by repeating the transitions among the swing state, the support state and the toe-off state. Thereby, the control method allows the robot to more stably and naturally walk.
摘要翻译：一种步行机器人及其控制方法。控制方法包括：在第一腿处于摆动状态，第二腿处于第一腿的状态下，当施加到第一腿的地面反作用力超过第一设定值时，执行第二腿部到脚趾关闭状态的转变在第二腿处于脚趾的状态下，当施加到第二腿的地面反作用力低于第二设定值时，执行第二腿到摆动状态的转变和第一腿的转变到支撑状态并且通过重复摆动状态，支撑状态和脚趾关闭状态之间的过渡来实现步行机器人的行走。因此，该控制方法允许机器人更稳定和自然地行走。

2. 发明授权

US09104207B2 Walking robot and control method thereof 有权
标题翻译：步行机器人及其控制方法
公开(公告)号：US09104207B2
公开(公告)日：2015-08-11
申请号：US13308842
申请日：2011-12-01
申请人： Joo Hyung Kim , Kee Hong Seo , Kyung Shik Roh , Jae Ho Park
发明人： Joo Hyung Kim , Kee Hong Seo , Kyung Shik Roh , Jae Ho Park
IPC分类号： G05B15/02 , G05D1/08 , B62D57/032
CPC分类号： G05D1/0891 , B62D57/032 , G05D2201/0217
摘要： A walking robot and a control method thereof. The control method of the walking robot which walks using two legs includes applying first virtual gravity torque including a vector component in the anti-gravity direction to respective joints of a support leg from among the two legs during walking, and applying second virtual gravity torque including a vector component in the gravity direction to respective joints of a swing leg from among the two legs during walking. Thereby, the walking robot implements a natural walking motion having a low energy consumption rate.
摘要翻译：一种步行机器人及其控制方法。使用两条腿行走的步行机器人的控制方法包括在步行期间将包括反重力方向的矢量分量的第一虚拟重力矩从两腿之间的支撑腿的各个接头施加，并施加第二虚拟重力矩，包括在步行期间从重力方向到两腿之间的摆动腿的各个关节的矢量分量。因此，步行机器人实现了具有低能量消耗率的自然步行动作。

3. 发明授权

US08874263B2 Walking robot and control method thereof 有权
标题翻译：步行机器人及其控制方法
公开(公告)号：US08874263B2
公开(公告)日：2014-10-28
申请号：US13249950
申请日：2011-09-30
申请人： Ho Seong Kwak , Kyung Shik Roh , Woong Kwon , Min Hyung Lee , Joo Hyung Kim
发明人： Ho Seong Kwak , Kyung Shik Roh , Woong Kwon , Min Hyung Lee , Joo Hyung Kim
IPC分类号： B25J11/00 , B62D57/032
CPC分类号： B62D57/032 , Y10S901/01
摘要： A walking robot and a control method in which conversion between walking servo control methods is stably carried out. The walking robot includes a sensor unit to measure angles and torques of joints, and a control unit to calculate voltages applied in a Finite State Machine (FSM) control mode and a Zero Moment Point (ZMP) control mode according to the angles and torques of the joints to drive respective joint motors, to store last target joint angles in the FSM control mode during conversion from the FSM control mode to the ZMP control mode, and to perform a motion based on the FSM control mode by substituting the last target joint angles in the FSM control mode for target joint angles in the FSM control mode during conversion from the ZMP control mode to the FSM control mode, thereby performing stable conversion between walking servo control modes without joint sagging.
摘要翻译：一种行走机器人和其中稳定执行步行伺服控制方法之间的转换的控制方法。行走机器人包括用于测量关节角度和扭矩的传感器单元，以及控制单元，用于根据角度和转矩的角度和转矩来计算在有限状态机（FSM）控制模式和零点（ZMP）控制模式中施加的电压在从FSM控制模式到ZMP控制模式的转换期间，驱动各个关节电动机的关节，以在FSM控制模式中存储最后的目标关节角度，并且通过代替最后的目标关节角度来执行基于FSM控制模式的运动在FSM控制模式下，在从ZMP控制模式转换到FSM控制模式时，在FSM控制模式下的目标关节角度，从而在没有关节下垂的步行伺服控制模式之间进行稳定的转换。

4. 发明授权

US08855821B2 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：US08855821B2
公开(公告)日：2014-10-07
申请号：US13483697
申请日：2012-05-30
申请人： Kee Hong Seo , Joo Hyung Kim , Kyung Shik Roh
发明人： Kee Hong Seo , Joo Hyung Kim , Kyung Shik Roh
IPC分类号： G05B19/04 , G05B15/00 , B25J9/00 , G06N3/00
CPC分类号： B25J9/0006 , B25J9/00 , G06N3/008 , Y10S901/01 , Y10S901/48
摘要： A bipedal robot having a pair of legs with 6 degrees of freedom and a control method thereof which calculate a capture point by combining the position and velocity of the center of gravity (COG) and control the capture point during walking to stably control walking of the robot. A Finite State Machine (FSM) is configured to execute a motion similar to walking of a human, and thus the robot naturally walks without constraint that the knees be bent all the time, thereby being capable of walking with a large stride and effectively using energy required while walking.
摘要翻译：具有6个自由度的一对腿的双足机器人及其控制方法，其通过组合重心位置（COG）的位置和速度来计算捕捉点，并且在步行期间控制捕获点以稳定地控制步行机器人。有限状态机（FSM）被配置为执行类似于人的行走的运动，因此机器人自然地行走而不受任何限制，膝盖一直弯曲，从而能够大步走并有效地使用能量行走时需要。

5. 发明授权

US09334002B2 Balance control apparatus of robot and control method thereof 有权
标题翻译：机器人平衡控制装置及其控制方法
公开(公告)号：US09334002B2
公开(公告)日：2016-05-10
申请号：US13490951
申请日：2012-06-07
申请人： Kee Hong Seo , Joo Hyung Kim , Kyung Shik Roh
发明人： Kee Hong Seo , Joo Hyung Kim , Kyung Shik Roh
IPC分类号： G05B19/04 , B62D57/032
CPC分类号： B62D57/032
摘要： A balance control apparatus of a robot and a control method thereof. The balance control method of the robot, which has a plurality of legs and an upper body, includes detecting pose angles of the upper body and angles of the plurality of joint units, acquiring a current capture point and a current hip height based on the pose angles and the angles of the plurality of joint units, calculating a capture point error by comparing the current capture point with a target capture point, calculating a hip height error by comparing the current hip height with a target hip height, calculating compensation forces based on the capture point error and the hip height error, calculating a target torque based on the calculated compensation forces, and outputting the calculated target torque to the plurality of joint units to control balance of the robot.
摘要翻译：机器人的平衡控制装置及其控制方法。具有多个腿部和上部身体的机器人的平衡控制方法包括检测上部的姿态角度和多个关节部件的角度，基于姿势获取当前的捕捉点和当前的臀部高度角度和多个关节单元的角度，通过将当前捕获点与目标捕获点进行比较来计算捕获点误差，通过将当前髋部高度与目标髋关节高度进行比较来计算髋部高度误差，基于捕获点误差和臀部高度误差，基于计算出的补偿力计算目标扭矩，并将计算出的目标扭矩输出到多个关节单元，以控制机器人的平衡。

6. 发明申请

US20120316682A1 BALANCE CONTROL APPARATUS OF ROBOT AND CONTROL METHOD THEREOF 审中-公开
标题翻译：机器人的平衡控制装置及其控制方法
公开(公告)号：US20120316682A1
公开(公告)日：2012-12-13
申请号：US13369438
申请日：2012-02-09
申请人： Kee Hong SEO , Joo Hyung Kim , Kyung Shik Roh
发明人： Kee Hong SEO , Joo Hyung Kim , Kyung Shik Roh
IPC分类号： B25J13/08
CPC分类号： B62D57/032
摘要： A balance control apparatus of a robot and a control method thereof. The balance control method of the robot, which has a plurality of legs and an upper body, includes detecting pose angles of the upper body and angles of the plurality of joint units, acquiring a current capture point and a current hip height based on the pose angles and the angles of the plurality of joint units, calculating a capture point error by comparing the current capture point with a target capture point, calculating a hip height error by comparing the current hip height with a target hip height, calculating compensation forces based on the capture point error and the hip height error, calculating torques respectively applied to the plurality of joint units based on the compensation forces, and outputting the torques to the plurality of joint units to control balance of the robot.
摘要翻译：机器人的平衡控制装置及其控制方法。具有多个腿部和上部身体的机器人的平衡控制方法包括检测上部的姿态角度和多个关节部件的角度，基于姿势获取当前的捕捉点和当前的臀部高度角度和多个关节单元的角度，通过将当前捕获点与目标捕获点进行比较来计算捕获点误差，通过将当前髋部高度与目标髋关节高度进行比较来计算髋部高度误差，基于捕获点误差和臀部高度误差，基于补偿力计算分别施加到多个关节单元的扭矩，并将扭矩输出到多个关节单元以控制机器人的平衡。

7. 发明申请

US20120310412A1 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：US20120310412A1
公开(公告)日：2012-12-06
申请号：US13483697
申请日：2012-05-30
申请人： Kee Hong SEO , Joo Hyung Kim , Kyung Shik Roh
发明人： Kee Hong SEO , Joo Hyung Kim , Kyung Shik Roh
IPC分类号： G05B19/04
CPC分类号： B25J9/0006 , B25J9/00 , G06N3/008 , Y10S901/01 , Y10S901/48
摘要： A bipedal robot having a pair of legs with 6 degrees of freedom and a control method thereof which calculate a capture point by combining the position and velocity of the center of gravity (COG) and control the capture point during walking to stably control walking of the robot. A Finite State Machine (FSM) is configured to execute a motion similar to walking of a human, and thus the robot naturally walks without constraint that the knees be bent all the time, thereby being capable of walking with a large stride and effectively using energy required while walking.
摘要翻译：具有6个自由度的一对腿的双足机器人及其控制方法，其通过组合重心位置（COG）的位置和速度来计算捕捉点，并且在步行期间控制捕获点以稳定地控制步行机器人。有限状态机（FSM）被配置为执行类似于人的行走的运动，因此机器人自然地行走而不受任何限制，膝盖一直弯曲，从而能够大步走并有效地使用能量行走时需要。

8. 外观设计

USD653823S1 Vacuum cleaner 有权
公开(公告)号：USD653823S1
公开(公告)日：2012-02-07
申请号：US29355908
申请日：2010-02-17
申请人： Joo Hyung Kim , Kang Doo Kim , Eun Sun Lim , Hyun Il Lee , Dae Kyun Lee
设计人： Joo Hyung Kim , Kang Doo Kim , Eun Sun Lim , Hyun Il Lee , Dae Kyun Lee

9. 外观设计

USD676204S1 Vacuum cleaner 有权
公开(公告)号：USD676204S1
公开(公告)日：2013-02-12
申请号：US29366275
申请日：2010-07-22
申请人： Joo Hyung Kim , Gwanwoo Shin , Hyun il Lee , Kyung Tae Kim
设计人： Joo Hyung Kim , Gwanwoo Shin , Hyun il Lee , Kyung Tae Kim

10. 外观设计

USD643980S1 Vacuum cleaner 有权
公开(公告)号：USD643980S1
公开(公告)日：2011-08-23
申请号：US29357387
申请日：2010-03-11
申请人： Joo Hyung Kim , Dae Kyun Lee
设计人： Joo Hyung Kim , Dae Kyun Lee

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