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1. 发明申请

US20120173019A1 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：US20120173019A1
公开(公告)日：2012-07-05
申请号：US13332771
申请日：2011-12-21
申请人： Myung Hee KIM , San LIM , Kyung Shik ROH , Young Bo SHIM
发明人： Myung Hee KIM , San LIM , Kyung Shik ROH , Young Bo SHIM
IPC分类号： B25J9/16
CPC分类号： B25J9/1669 , G05B2219/39536
摘要： A robot and a control method thereof which execute grasp planning of hands of the robot separately from motion planning of arms of the robot so as to apply a result of the grasp planning of the hands of the robot to the motion planning of the arms of the robot, and thus more rapidly, naturally and stably grasp an object in a grasp manner suited to a desired working purpose and judge whether or not grasping is executable prior to the motion planning of the arms of the robot, thereby more stably grasping the object.
摘要翻译：机器人及其控制方法，其与机器人的臂的运动规划分开执行机器人的手的抓握规划，以将机器人的手的抓握计划的结果应用于机器人的手臂的运动规划机器人，因此更加快速，自然且稳定地以适合于期望的工作目的的把握方式抓住物体，并且判断在机器人的臂的运动规划之前抓握是否可执行，从而更稳定地抓住物体。

2. 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。

3. 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。

4. 发明申请

US20120165982A1 APPARATUS FOR PLANNING PATH OF ROBOT AND METHOD THEREOF 有权
标题翻译：机器人规划方法及其方法
公开(公告)号：US20120165982A1
公开(公告)日：2012-06-28
申请号：US13328125
申请日：2011-12-16
申请人： Myung Hee KIM , Kyung Shik ROH , Young Bo SHIM
发明人： Myung Hee KIM , Kyung Shik ROH , Young Bo SHIM
IPC分类号： G06F7/00
CPC分类号： B25J9/162 , B25J9/1664 , G05B2219/40244 , G05B2219/40476 , G05B2219/40477 , Y10T74/20329
摘要： A method for planning the robot path includes forming a shape space that includes a start point, a goal point, and obstacle information so as to generate a moving path of the robot, generating one or more moving paths of the robot within the shape space, and storing the generated moving paths in a database, selecting a specific path that has a minimum operation range of the robot and a minimum constraint caused by the obstacle from among the stored moving paths, and planning the selected path, enabling the robot to perform motion along the planned path, and pre-planning a path for a next motion of the robot while the robot performs the motion. The apparatus or method for planning the robot path can reduce a time from an end time of one motion to the start time of the next motion, thereby performing a smooth motion.
摘要翻译：一种用于规划机器人路径的方法包括形成包括起点，目标点和障碍物信息的形状空间，以便生成机器人的移动路径，在形状空间内生成机器人的一个或多个移动路径，并且将所生成的移动路径存储在数据库中，从存储的移动路径中选择具有机器人的最小操作范围的特定路径和由障碍物引起的最小约束，并且规划所选择的路径，使机器人能够执行运动沿着计划的路径，并且在机器人执行运动时预先规划机器人的下一个运动的路径。用于规划机器人路径的装置或方法可以减少从一个运动的结束时间到下一个运动的开始时间的时间，从而执行平滑运动。

5. 发明申请

US20110106307A1 PATH PLANNING APPARATUS OF ROBOT AND METHOD AND COMPUTER-READABLE MEDIUM THEREOF 有权
标题翻译：机器人方法和计算机可读介质的路径规划设备
公开(公告)号：US20110106307A1
公开(公告)日：2011-05-05
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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