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1. 发明授权

US08021071B2 Compliant joint 有权
标题翻译：符合联合
公开(公告)号：US08021071B2
公开(公告)日：2011-09-20
申请号：US12110817
申请日：2008-04-28
申请人： Young Bo Shim , Ja Woo Lee , Youn Baek Lee , Jeong Hun Kim , Kyung Shik Roh , Hyun Kyu Kim , Hyun Seok Yang , Dong Jun Hyun
发明人： Young Bo Shim , Ja Woo Lee , Youn Baek Lee , Jeong Hun Kim , Kyung Shik Roh , Hyun Kyu Kim , Hyun Seok Yang , Dong Jun Hyun
IPC分类号： F16D7/00
CPC分类号： B25J19/063 , Y10T403/54 , Y10T403/602 , Y10T403/604
摘要： A compliant joint capable of achieving passive compliance for a robot in order to prevent an injury to a human by collision with the robot. The compliant joint includes a housing, a cam member rotatably mounted in the housing, a roller spring device mounted to the cam member to be compressed and extended, a guiding member formed in the housing to guide compression and extension of the roller spring device in accordance with rotation of the cam member, and a receiving recess formed at the guiding member to engage the housing and the cam member with each other by receiving the roller spring device and release the engagement by separating from the roller spring device. Accordingly, robustness of the robot can be maintained when an impact less than a predetermined magnitude is applied, while being suddenly decreased when an impact greater than the magnitude is applied.
摘要翻译：能够实现机器人的被动符合性以便通过与机器人碰撞来防止对人造成伤害的符合关节。柔性接头包括壳体，可旋转地安装在壳体中的凸轮构件，安装到凸轮构件以被压缩和延伸的辊弹簧装置，形成在壳体中的引导构件，用于引导辊弹簧装置的压缩和延伸凸轮构件的旋转和形成在引导构件处的接收凹部通过接收滚子弹簧装置而相互接合壳体和凸轮构件，并通过与滚子弹簧装置分离来释放接合。因此，当施加小于预定幅度的冲击时，可以保持机器人的鲁棒性，同时在大于施加幅度的冲击下突然减小。

2. 发明申请

US20090092442A1 COMPLIANT JOINT 有权
标题翻译：合作伙伴
公开(公告)号：US20090092442A1
公开(公告)日：2009-04-09
申请号：US12110817
申请日：2008-04-28
申请人： Young Bo SHIM , Ja Woo Lee , Youn Baek Lee , Jeong Hun Kim , Kyung Shik Roh , Hyun Kyu Kim
发明人： Young Bo SHIM , Ja Woo Lee , Youn Baek Lee , Jeong Hun Kim , Kyung Shik Roh , Hyun Kyu Kim
IPC分类号： F16C11/12
CPC分类号： B25J19/063 , Y10T403/54 , Y10T403/602 , Y10T403/604
摘要： A compliant joint capable of achieving passive compliance for a robot in order to prevent an injury to a human by collision with the robot. The compliant joint includes a housing, a cam member rotatably mounted in the housing, a roller spring device mounted to the cam member to be compressed and extended, a guiding member formed in the housing to guide compression and extension of the roller spring device in accordance with rotation of the cam member, and a receiving recess formed at the guiding member to engage the housing and the cam member with each other by receiving the roller spring device and release the engagement by separating from the roller spring device. Accordingly, robustness of the robot can be maintained when an impact less than a predetermined magnitude is applied, while being suddenly decreased when an impact greater than the magnitude is applied.
摘要翻译：能够实现机器人的被动符合性以便通过与机器人碰撞来防止对人造成伤害的符合关节。柔性接头包括壳体，可旋转地安装在壳体中的凸轮构件，安装到凸轮构件以被压缩和延伸的辊弹簧装置，形成在壳体中的引导构件，用于引导辊弹簧装置的压缩和延伸凸轮构件的旋转和形成在引导构件处的接收凹部通过接收滚子弹簧装置而相互接合壳体和凸轮构件，并通过与滚子弹簧装置分离来释放接合。因此，当施加小于预定幅度的冲击时，可以保持机器人的鲁棒性，同时在大于施加幅度的冲击下突然减小。

3. 发明授权

US08824775B2 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：US08824775B2
公开(公告)日：2014-09-02
申请号：US12654160
申请日：2009-12-11
申请人： Suk June Yoon , Kyung Shik Roh , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim , Sung Hwan Ahn
发明人： Suk June Yoon , Kyung Shik Roh , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim , Sung Hwan Ahn
IPC分类号： G06K9/00
CPC分类号： G06T7/248 , G06T7/55 , G06T2207/10016 , G06T2207/10028
摘要： Disclosed herein are a feature point used to localize an image-based robot and build a map of the robot and a method of extracting and matching an image patch of a three-dimensional (3D) image, which is used as the feature point. It is possible to extract the image patch converted into the reference image using the position information of the robot and the 3D position information of the feature point. Also, it is possible to obtain the 3D surface information with the brightness values of the image patches to obtain the match value with the minimum error by a 3D surface matching method of matching the 3D surface information of the image patches converted into the reference image through the ICP algorithm.
摘要翻译：这里公开的是用于本地化基于图像的机器人并构建机器人的映射的特征点以及用于提取和匹配用作特征点的三维（3D）图像的图像块的方法。可以使用机器人的位置信息和特征点的3D位置信息来提取转换为参考图像的图像块。另外，可以利用图像斑块的亮度值获得3D表面信息，以通过3D图像匹配方法获得具有最小误差的匹配值，该3D表面匹配方法通过匹配转换成参考图像的图像斑块的3D表面信息 ICP算法。

4. 发明申请

US20100141197A1 Robot arm and method of controlling the same 有权
标题翻译：机器人手臂及其控制方法
公开(公告)号：US20100141197A1
公开(公告)日：2010-06-10
申请号：US12588691
申请日：2009-10-23
申请人： Kyung Won Moon , Kyung Shik Roh , Jong Do Choi , Hyun Kyu Kim
发明人： Kyung Won Moon , Kyung Shik Roh , Jong Do Choi , Hyun Kyu Kim
IPC分类号： G05B9/02
CPC分类号： B25J9/1638 , G05B2219/39194 , G05B2219/40264
摘要： Disclosed are a robot arm having high back-drivability to interact with a human being, which is safely stopped, and a method of controlling the robot arm. When the operation of the robot arm having high back-drivability to interact with a human being is converted into a safety mode due to the occurrence of an emergency, in which the operation of the robot arm is stopped, only a torque having a degree to compensate for gravity applied to the robot arm, i.e., only a torque to maintain the kinematical position of the current state of the robot arm without falling of the robot arm due to gravity, is outputted to control the robot arm as if the robot arm is in a weightless state, thus being capable of safely stopping the robot arm. Thereby, a user can easily move the robot arm and thus safely escape from the robot arm, and it is possible to prevent the falling of the robot arm due to gravity and thus to protect devices of the robot arm and peripheral environment around the robot arm.
摘要翻译：公开了一种机器人臂，其具有高的后驾驶性能，与人类相互作用，其被安全地停止，以及控制机器人手臂的方法。当机器人臂具有高反向驾驶性能与人相互作用的操作由于出现紧急情况而被转换为安全模式，其中机器人手臂的操作停止时，仅具有一定程度的扭矩补偿施加到机器人手臂的重力，即，仅输出维持机器人手臂的当前状态的运动学位置而不会因重力而使机器人手臂下降的扭矩，以控制机器人手臂，就好像机器人臂是在失重状态下，能够安全地停止机器人手臂。由此，使用者能够容易地移动机器人手臂，从而可以安全地从机器人臂逃逸，并且能够防止机器人臂因重力而坠落，从而保护机器人手臂的装置和机器人臂周围的环境。

5. 发明申请

US20090292394A1 Apparatus for locating moving robot and method for the same 有权
标题翻译：用于定位移动机器人的装置及其方法
公开(公告)号：US20090292394A1
公开(公告)日：2009-11-26
申请号：US12379433
申请日：2009-02-20
申请人： Seung Yong Hyung , Kyung Shik Roh , Woong Kwon , San Lim , Sukjune Yoon , Hyun Kyu Kim
发明人： Seung Yong Hyung , Kyung Shik Roh , Woong Kwon , San Lim , Sukjune Yoon , Hyun Kyu Kim
IPC分类号： G05B19/04
CPC分类号： G05D1/027 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D2201/0203
摘要： An apparatus and a method of locating a moving robot are disclosed. The apparatus includes a storage unit storing information on straight lines of wall on a map, a state quantity detection unit detecting quantity of state of the robot running along the wall, and a control unit estimating an interior position of the robot by obtaining straight line information based on the detected state quantity and matching the obtained straight line information with the stored straight line information.
摘要翻译：公开了一种定位移动机器人的装置和方法。该装置包括存储单元，其存储在地图上的直线上的信息，状态量检测单元检测沿壁行进的机器人的状态量，以及控制单元，通过获得直线信息来估计机器人的内部位置基于检测到的状态量，并将获得的直线信息与所存储的直线信息进行匹配。

6. 发明授权

US08761925B2 Robot and method of building map therefor 有权
标题翻译：机器人和建立地图的方法
公开(公告)号：US08761925B2
公开(公告)日：2014-06-24
申请号：US12289274
申请日：2008-10-23
申请人： Sukjune Yoon , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim , Kyung Shik Roh
发明人： Sukjune Yoon , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim , Kyung Shik Roh
IPC分类号： G06F19/00
CPC分类号： B25J9/1666 , G05B2219/40442
摘要： Disclosed are a robot, which builds a map using a surface data of a three-dimensional image, from which a dynamic obstacle is removed, and a method of building a map for the robot. The method includes sequentially acquiring first and second surface data of a route on which the robot moves; matching the first and second surface data with each other to calculate a difference between the first and second surface data; detecting a dynamic obstacle from the first and second surface data according to the difference between the first and second surface data; generating a third surface data by removing the dynamic obstacle from at least one of the first and second surface data; and matching the third surface data and any one of the first and second surface data with each other to build the map.
摘要翻译：公开了一种机器人，其使用去除了动态障碍物的三维图像的表面数据构建地图以及用于构建机器人的地图的方法。该方法包括顺序地获取机器人移动的路线的第一和第二表面数据; 将第一和第二表面数据彼此匹配以计算第一和第二表面数据之间的差异; 根据第一和第二表面数据之间的差异，从第一和第二表面数据中检测动态障碍物; 通过从第一和第二表面数据中的至少一个去除动态障碍物来产生第三表面数据; 并且将第三表面数据和第一和第二表面数据中的任何一个彼此匹配以构建地图。

7. 发明授权

US08405340B2 Robot arm and method of controlling the same 有权
标题翻译：机器人手臂及其控制方法
公开(公告)号：US08405340B2
公开(公告)日：2013-03-26
申请号：US12588691
申请日：2009-10-23
申请人： Kyung Won Moon , Kyung Shik Roh , Jong Do Choi , Hyun Kyu Kim
发明人： Kyung Won Moon , Kyung Shik Roh , Jong Do Choi , Hyun Kyu Kim
IPC分类号： G05B9/02
CPC分类号： B25J9/1638 , G05B2219/39194 , G05B2219/40264
摘要： Disclosed are a robot arm having high back-drivability to interact with a human being, which is safely stopped, and a method of controlling the robot arm. When the operation of the robot arm having high back-drivability to interact with a human being is converted into a safety mode due to the occurrence of an emergency, in which the operation of the robot arm is stopped, only a torque having a degree to compensate for gravity applied to the robot arm, i.e., only a torque to maintain the kinematical position of the current state of the robot arm without falling of the robot arm due to gravity, is outputted to control the robot arm as if the robot arm is in a weightless state, thus being capable of safely stopping the robot arm.
摘要翻译：公开了一种机器人臂，其具有高的后驾驶性能，与人类相互作用，其被安全地停止，以及控制机器人手臂的方法。当机器人臂具有高反向驾驶性能与人相互作用的操作由于出现紧急情况而被转换为安全模式，其中机器人手臂的操作停止时，仅具有一定程度的扭矩补偿施加到机器人手臂的重力，即，仅输出维持机器人手臂的当前状态的运动学位置而不会因重力而使机器人手臂下降的扭矩，以控制机器人手臂，就好像机器人臂是在失重状态下，能够安全地停止机器人手臂。

8. 发明申请

US20100040279A1 METHOD AND APPARATUS TO BUILD 3-DIMENSIONAL GRID MAP AND METHOD AND APPARATUS TO CONTROL AUTOMATIC TRAVELING APPARATUS USING THE SAME 有权
标题翻译：构建三维网格地图的方法和装置以及使用该方法和装置控制自动旅行装置的方法
公开(公告)号：US20100040279A1
公开(公告)日：2010-02-18
申请号：US12411446
申请日：2009-03-26
申请人： Sukjune Yoon , Kyung Shik Roh , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim
发明人： Sukjune Yoon , Kyung Shik Roh , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim
IPC分类号： G06K9/00
CPC分类号： G05D1/0251 , G05D1/0274 , G05D2201/0207 , G06T7/593 , G06T2207/30252 , G09B25/06
摘要： A method and apparatus to build a 3-dimensional grid map and a method and apparatus to control an automatic traveling apparatus using the same. In building a 3-dimensional map to discern a current location and a peripheral environment of an unmanned vehicle or a mobile robot, 2-dimensional localization and 3-dimensional image restoration are appropriately used to accurately build the 3-dimensional grid map more rapidly.
摘要翻译：一种构建3维网格图的方法和装置，以及使用该方法和装置控制自动行进装置的方法和装置。在建立三维地图以辨别无人驾驶车辆或移动机器人的当前位置和周边环境时，二维定位和三维图像恢复被适当地用于更快地准确地构建三维网格图。

9. 发明申请

US20100172571A1 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：US20100172571A1
公开(公告)日：2010-07-08
申请号：US12654160
申请日：2009-12-11
申请人： Suk June Yoon , Kyung Shik Roh , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim , Sung Hwan Ahn
发明人： Suk June Yoon , Kyung Shik Roh , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim , Sung Hwan Ahn
IPC分类号： G06K9/00
CPC分类号： G06T7/248 , G06T7/55 , G06T2207/10016 , G06T2207/10028
摘要： Disclosed herein are a feature point used to localize an image-based robot and build a map of the robot and a method of extracting and matching an image patch of a three-dimensional (3D) image, which is used as the feature point. It is possible to extract the image patch converted into the reference image using the position information of the robot and the 3D position information of the feature point. Also, it is possible to obtain the 3D surface information with the brightness values of the image patches to obtain the match value with the minimum error by a 3D surface matching method of matching the 3D surface information of the image patches converted into the reference image through the ICP algorithm.
摘要翻译：这里公开的是用于本地化基于图像的机器人并构建机器人的映射的特征点以及用于提取和匹配用作特征点的三维（3D）图像的图像块的方法。可以使用机器人的位置信息和特征点的3D位置信息来提取转换为参考图像的图像块。另外，可以利用图像斑块的亮度值获得3D表面信息，以通过3D图像匹配方法获得具有最小误差的匹配值，该3D表面匹配方法将经过参考图像转换成参考图像的图像斑块的3D表面信息匹配 ICP算法。

10. 发明申请

US20090276092A1 Robot and method of building map therefor 有权
标题翻译：机器人和建立地图的方法
公开(公告)号：US20090276092A1
公开(公告)日：2009-11-05
申请号：US12289274
申请日：2008-10-23
申请人： Sukjune Yoon , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim , Kyung Shik Roh
发明人： Sukjune Yoon , Woong Kwon , Seung Yong Hyung , Hyun Kyu Kim , Kyung Shik Roh
IPC分类号： G06F19/00
CPC分类号： B25J9/1666 , G05B2219/40442
摘要： Disclosed are a robot, which builds a map using a surface data of a three-dimensional image, from which a dynamic obstacle is removed, and a method of building a map for the robot. The method includes sequentially acquiring first and second surface data of a route on which the robot moves; matching the first and second surface data with each other to calculate a difference between the first and second surface data; detecting a dynamic obstacle from the first and second surface data according to the difference between the first and second surface data; generating a third surface data by removing the dynamic obstacle from at least one of the first and second surface data; and matching the third surface data and any one of the first and second surface data with each other to build the map.
摘要翻译：公开了一种机器人，其使用去除了动态障碍物的三维图像的表面数据构建地图以及用于构建机器人的地图的方法。该方法包括顺序地获取机器人移动的路线的第一和第二表面数据; 将第一和第二表面数据彼此匹配以计算第一和第二表面数据之间的差异; 根据第一和第二表面数据之间的差异，从第一和第二表面数据中检测动态障碍物; 通过从第一和第二表面数据中的至少一个去除动态障碍物来产生第三表面数据; 并且将第三表面数据和第一和第二表面数据中的任何一个彼此匹配以构建地图。

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