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1. 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。

2. 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。

3. 发明申请

US20120158182A1 WALKING CONTROL APPARATUS AND METHOD OF ROBOT 审中-公开
标题翻译：摇摆控制装置和机器人的方法
公开(公告)号：US20120158182A1
公开(公告)日：2012-06-21
申请号：US13280586
申请日：2011-10-25
申请人： Ju Suk Lee , Kyung Shik Roh , Woong Kwon , Jae Ho Park
发明人： Ju Suk Lee , Kyung Shik Roh , Woong Kwon , Jae Ho Park
IPC分类号： G05B15/00
CPC分类号： B25J9/162 , G05B2219/40244 , G05D2201/0217
摘要： A walking control apparatus and method of a robot. The walking control method include confirming a swing leg and a support leg by judging a walking state of the robot when a walking velocity of the robot and a walking command are received by the robot, generating reference pitch knot points of a hip joint unit of the swing leg based on the walking state and the walking velocity of the robot, generating a target pitch angle trajectory of the hip joint unit of the swing leg using the reference pitch knot points, calculating torques tracking the target pitch angle trajectory, and outputting the torques to the hip joint unit of the swing leg to control the walking velocity of the robot. The walking velocity of the robot is rapidly and easily changed by adjusting at least one of a step length and a step time.
摘要翻译：一种机器人的行走控制装置和方法。步行控制方法包括：当机器人的步行速度和行走命令由机器人接收时，通过判断机器人的行走状态来判断摆动腿和支撑腿，生成髋关节单元的基准节点基于步行状态和所述机器人的步行速度进行摆动腿，使用所述基准节距点产生所述摆动腿的髋关节单元的目标俯仰角轨迹，计算跟踪所述目标俯仰角轨迹的扭矩，并输出所述转矩到摆动腿的髋关节单元以控制机器人的步行速度。通过调整步长和步进时间中的至少一个来快速且容易地改变机器人的步行速度。

4. 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。

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

US08688273B2 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：US08688273B2
公开(公告)日：2014-04-01
申请号：US13005262
申请日：2011-01-12
申请人： Ju Suk Lee , Woong Kwon , Kyung Shik Roh
发明人： Ju Suk Lee , Woong Kwon , Kyung Shik Roh
IPC分类号： G05B19/19
CPC分类号： B62D57/032 , B25J9/1648 , G05B2219/23289
摘要： A walking control apparatus of a robot includes a joint portion provided in each of a plurality of legs of the robot, a pose sensing unit to sense the pose of the robot, a walking state determination unit to determine a walking state from the pose of the robot, a knot point compensation value calculator to determine a Center Of Mass (COM) of the robot from the pose of the robot and to calculate a knot point compensation value, a desired angle trajectory generator to generate a reference knot point of the joint portion corresponding to the walking state, to compensate for the reference knot point using the knot point compensation value so as to generate a desired knot point, and to generate a desired angle trajectory of the joint portion using the desired knot point. The knot point which is the angle command of the joint portion of each of the legs to perform the next step is compensated for based on the COM, and the compensated desired knot point is smoothly connected using the spline curve such that the robot walks similar to a human. In addition, in order to maintain balance while walking, the angle of the joint portion of the intermediate point of the current step is fed back and the knot point of the next step is predicted and adjusted, such that the robot stably and smoothly walks.
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，感测机器人姿态的姿势检测部，行走状态判定部，机器人，结点补偿值计算器，从机器人的姿态确定机器人的质心（COM），并计算结点补偿值，所需角度轨迹发生器，以生成关节部分的参考点点对应于步行状态，使用结点补偿值来补偿参考点，以产生期望的结点，并且使用期望的结点产生所述关节部分的期望的角度轨迹。根据COM补偿作为每个腿的关节部分的角度指令的结点，并且使用样条曲线平滑地连接补偿的所需结点，使得机器人类似于一个人。此外，为了在行走时保持平衡，当前台阶的中间点的接合部分的角度被反馈，并且预测和调整下一步骤的结点，使得机器人平稳而顺利地行走。

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