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1. 发明公开

KR1020090022906A 다족 보행로봇의 다리장치 无效
标题翻译：具有多重特征的运动装置的结构
公开(公告)号：KR1020090022906A
公开(公告)日：2009-03-04
申请号：KR1020070088590
申请日：2007-08-31
申请人： 재단법인 포항지능로봇연구소
发明人： 박종훈 , 강태훈 , 염영일
IPC分类号： B25J5/00 , B25J17/00
摘要： A structure of legs of a walking apparatus having multiple legs is provided to improve endurance of a framework and a power structure by preventing impact from being transmitted to other part except for legs. A structure of legs of a walking apparatus having multiple legs performs walking by multiple legs(400R) and a shoulder blade unit in which the legs are mounted. The structure of legs of a robot comprises a mounting unit(410) mounted on the shoulder blade part, a thigh(420) extended from the mounting part, a knee articulation(430) installed to the end of the thigh, a shinbone(440) extended from the knee articulation, an ankle wrist part(450) installed at the end part of the shinbone part, an ankle part(460) extended from the ankle wrist part, a toe joint part(470) installed at the end part of the ankle part, and a toe absorbing member(461) absorbing impact occurred during walking of legs.
摘要翻译：提供具有多个腿的行走装置的腿的结构，以通过防止冲击传递到除腿之外的其他部分来提高框架和电力结构的耐久性。具有多个腿的步行装置的腿部的结构通过多个腿部（400R）和其中安装腿部的肩胛骨单元行走。机器人的腿的结构包括安装在肩胛骨部分上的安装单元（410），从安装部分延伸的大腿（420），安装到大腿末端的膝关节（430），胫骨（440）），安装在所述胫骨部的端部的脚踝腕部（450），从所述踝腕部延伸的脚踝部（460），安装在所述胫骨部的端部的趾部（470）脚踝部分和在腿部行走期间吸收冲击的脚趾吸收构件（461）。

2. 发明授权

KR100881287B1 4족 보행기구 失效
标题翻译：具有多重障碍的运动装置
公开(公告)号：KR100881287B1
公开(公告)日：2009-02-03
申请号：KR1020070088588
申请日：2007-08-31
申请人： 재단법인 포항지능로봇연구소
发明人： 박종훈 , 강태훈 , 염영일
IPC分类号： B25J5/00 , B25J17/00
摘要： A walking apparatus having multiple legs is provided to ease the control of the walking action by minimizing the movement of the centroid of the walking frame and to improve the walk efficiency by including the structure which buffing right and left vibration generated according to the walking action of the walking frame. A walking apparatus having multiple legs comprises a pair of front leg part(400R,400L) supporting the surface; the shoulder blade part(200) prepared between a pair of front leg part; the front leg mounting unit which is arranged between the overall leg part and shoulder blade part and circulates the front leg part so that the front leg part perform the walking action; the pelvic part(300) which is separated from the shoulder blade part and prescribed distance and is combined; and a pair of rearward leg part(500R,500L) which are combined in the pelvic part and support the surface.
摘要翻译：提供具有多个腿的步行装置，以通过最小化步行架的重心的移动来减轻行走动作的控制，并且通过包括根据步行动作产生的抛光右和左振动的结构来提高步行效率步行架。具有多个腿部的行走装置包括支撑该表面的一对前腿部分（400R，400L）在一对前腿部之间制备的肩胛骨部分（200）所述前腿安装单元布置在所述整个腿部和所述肩部部分之间并使所述前腿部分循环，使得所述前腿部分执行所述行走动作; 骨盆部分（300）与肩胛骨部分分开并规定距离并组合; 和一对后支腿部分（500R，500L），其组合在骨盆部分中并支撑表面。

3. 发明授权

KR101103586B1 로봇용 시뮬레이션 시스템 및 방법 有权
标题翻译：机器人的仿真系统和方法
公开(公告)号：KR101103586B1
公开(公告)日：2012-01-09
申请号：KR1020090119481
申请日：2009-12-04
申请人： 재단법인 포항지능로봇연구소
发明人： 강태훈 , 서갑호 , 조정산 , 정광목 , 박정우
IPC分类号： G06F9/455 , G06F13/14
摘要： 본 발명의 일 실시예에 따른 로봇용 시뮬레이션 시스템은 소프트웨어적 제어신호를 기반으로 가상 로봇을 동역학적 모델로 시뮬레이션하는 로봇 모델 시뮬레이터; 및 상기 로봇 모델 시뮬레이터와 로봇 시뮬레이션 시스템의 외부에 위치한 로봇 제어기를 상호 연결하되, 상기 소프트웨어적 제어신호와 상기 로봇 제어기에서 사용되는 하드웨어적 제어신호를 상호 변환하여 상기 로봇 모델 시뮬레이터와 상기 로봇 제어기에서 인식 가능하도록 하는 인터페이스 모듈을 포함하는 것을 특징으로 한다. 실제 로봇의 제어기를 이용하여 시뮬레이션을 수행할 수 있으므로 시뮬레이션의 정확도를 높일 수 있다. 또한, 시뮬레이션 용으로 개발된 제어 알고리즘을 별도의 이식(porting)작업 없이 실제의 로봇 제어기에 적용하여 시뮬레이션을 수행할 수 있다.
로봇, 시뮬레이션, HILS(Hardware in the loop simulation)

4. 发明公开

KR1020110045932A 휠체어 가변 침대 및 이의 변형 방법 无效
标题翻译：轮椅可变形床和可变形方法相同
公开(公告)号：KR1020110045932A
公开(公告)日：2011-05-04
申请号：KR1020090102689
申请日：2009-10-28
申请人： 재단법인 포항지능로봇연구소
发明人： 서갑호 , 강태훈 , 박정우
IPC分类号： A61G7/16 , A61G5/04 , A61G7/002
摘要： PURPOSE: A wheelchair variable bed and a modification method thereof are provided to use the bed as a wheelchair by changing the bed into the wheelchair. CONSTITUTION: A wheelchair variable bed comprises: a bed frame(110); a mattress(150) which is spread on the bed frame and is changed into a chair shape by being folded in multi-stages; a chair frame(130) which is equipped with wheels and is attached to the bed frame; a deformation unit(170) which changes the mattress spread on the bed frame into a chair shape; a power unit offering power to the wheel; a plurality of pressure sensors sensing the movement of a user on the mattress; and a deformation control part controlling the operation of the deformation unit according to the movement of the user.
摘要翻译：目的：提供轮椅可变床及其修改方法，通过将床改为轮椅，将床作为轮椅使用。构成：轮椅变床包括：床架（110）; 床垫（150），其被铺展在床架上并通过多级折叠而变成椅子形状; 椅子框架（130），其配备有轮子并且附接到床架; 变形单元（170），其将床架上铺展的床垫改变为椅子形状; 为车轮提供动力的动力单元; 多个压力传感器感测使用者在床垫上的移动; 以及变形控制部，其根据使用者的移动来控制变形部的动作。

5. 发明公开

KR1020110062688A 로봇용 시뮬레이션 시스템 및 방법 有权
标题翻译：机器人的仿真系统和方法
公开(公告)号：KR1020110062688A
公开(公告)日：2011-06-10
申请号：KR1020090119481
申请日：2009-12-04
申请人： 재단법인 포항지능로봇연구소
发明人： 강태훈 , 서갑호 , 조정산 , 정광목 , 박정우
IPC分类号： G06F9/455 , G06F13/14
CPC分类号： G05B13/04 , B25J9/16
摘要： PURPOSE: A simulation system and a method for a robot are provided to apply a control algorithm to a robot control device without an additional porting process. CONSTITUTION: A robot model simulator(110) simulates a virtual robot as a dynamic model based on the software control signal. An interface module(120) interlinks an external robot controller(130) of a robot simulation system(100) and a robot model simulator. The interface module converts signals between a software control signal and a hardware control signal which is used in the robot control device. The interface module makes the control signal to be recognizable in the robot control device and the robot model simulator.
摘要翻译：目的：提供一种用于机器人的仿真系统和方法，以将控制算法应用于机器人控制装置，而无需额外的移植过程。构成：机器人模型模拟器（110）基于软件控制信号模拟虚拟机器人作为动态模型。接口模块（120）将机器人模拟系统（100）的外部机器人控制器（130）和机器人模型模拟器相互连接。接口模块在软件控制信号和机器人控制装置中使用的硬件控制信号之间转换信号。接口模块使机器人控制装置和机器人模型模拟器中的控制信号可以识别。

6. 发明授权

KR101018019B1 아날로그 뉴런 기반의 로봇 제어 시스템 失效
标题翻译：基于机器人控制系统的模拟神经元
公开(公告)号：KR101018019B1
公开(公告)日：2011-03-02
申请号：KR1020080081257
申请日：2008-08-20
申请人： 재단법인 포항지능로봇연구소
发明人： 김성훈 , 강태훈 , 염영일 , 조진호
IPC分类号： B25J13/00 , B25J9/00
摘要： 아날로그 뉴런 기반의 로봇 제어 시스템은 로봇에 장착된 센서로부터 센서신호를 수신하여 동작퍼텐션을 생성하는 센서신호 수신부, 상기 동작퍼텐션을 복수의 뉴런 회로로 이루어진 뉴런 네트워크를 이용하여 펄스 빈도수로 표현되는 패턴신호로 변환하는 감각 패턴 생성부 및 상기 패턴신호를 로봇의 동작에 관련된 액추에이터를 구동시키기 위한 운동 신호로 변환하는 운동 패턴 생성부를 포함한다.실제 생물학적 뉴런의 특성과 유사한 기능을 수행하는 아날로그 뉴런 회로를 이용하여 로봇의 움직임을 보다 인간과 유사하게 동작시킬 수 있다. 또한, 다수의 뉴런 회로를 이용하여 뉴런 네트워크를 구성하여 패턴신호를 생성함으로써 하나의 뉴런 회로가 고장 나더라도 다른 패턴신호를 생성하여 환경에 적절하게 로봇의 움직임을 제어할 수 있다.

7. 发明公开

KR1020100022647A 아날로그 뉴런 기반의 로봇 제어 시스템 失效
标题翻译：机器人控制系统模拟神经元
公开(公告)号：KR1020100022647A
公开(公告)日：2010-03-03
申请号：KR1020080081257
申请日：2008-08-20
申请人： 재단법인 포항지능로봇연구소
发明人： 김성훈 , 강태훈 , 염영일 , 조진호
IPC分类号： B25J13/00 , B25J9/00
摘要： PURPOSE: An analog neuron-based robot control system is provided to produce other pattern signals although one neuron circuit is out of order by forming a neuron network and producing pattern signals. CONSTITUTION: An analog neuron-based robot control system comprises a sensor signal receiver(120), a sensing pattern generation part(130) and a motion pattern generation part(140). The sensor signal receiver receives sensor signals from a sensor(110) mounted on the sensor signal receiver. The sensing pattern generation part converts operation potention into pattern signals expressed as the pulse frequency. The motion pattern generation part outputs motion signals for driving an actuator(150). The neuron circuit comprises a negative resistor, transistor impedance, leak resistance, and cell membrane capacity. The motion pattern generation part comprises a signal converter and an analog switch.
摘要翻译：目的：提供一种基于模拟神经元的机器人控制系统来产生其他模式信号，尽管一个神经元电路通过形成神经网络并产生模式信号而失序。构成：基于模拟神经元的机器人控制系统包括传感器信号接收器（120），感测图案生成部件（130）和运动图案生成部件（140）。传感器信号接收器从安装在传感器信号接收器上的传感器（110）接收传感器信号。感测图案生成部将运算能力转换成表示为脉冲频率的图形信号。运动图案生成部输出用于驱动致动器（150）的运动信号。神经元电路包括负电阻，晶体管阻抗，漏电阻和细胞膜容量。运动图案生成部分包括信号转换器和模拟开关。

8. 发明授权

KR100881288B1 다족 보행기구의 견골장치 失效
标题翻译：具有多发性心脏病的手术装置的装置
公开(公告)号：KR100881288B1
公开(公告)日：2009-02-03
申请号：KR1020070088589
申请日：2007-08-31
申请人： 재단법인 포항지능로봇연구소
发明人： 박종훈 , 강태훈 , 염영일
IPC分类号： B25J5/00 , B25J17/00
摘要： A shoulder bone apparatus of the multiple legs walking frame is provided to ease the control of the walking action and to improve the walk efficiency by preparing the structure of buffing right and left vibration generated according to the walking action of the walking frame. A shoulder bone apparatus of the multiple legs walking frame comprises the shoulder blade part body(210) forming the body of the multiple legs walking frame; a pair of buffer link part buffing impact and vibration which are generated according to the walking action of each leg part it is equipped between the shoulder blade part body and each leg part; and the leg mounting unit(230) which is equipped between the buffer link part and leg part and circulates the leg part so that the leg part perform the walking action. The buffer link part includes the pivot edge(224) in which the leg mounting unit is combined; the vertical assemble part(221) is rotatable, in which one side is combined in the shoulder blade part body and in which the other side is combined in the pivot edge(224) and moving the pivot edge to the vertical direction; and the buffer unit(225) which is equipped between the vertical assemble part and shoulder blade part body and buffs the impact according to the movement of the vertical assemble part.
摘要翻译：提供多腿步行架的肩骨装置，以便通过准备根据步行架的行走动作而产生的抛光左右震动的结构，以便于行走动作的控制和提高步行效率。所述多腿步行架的肩骨架装置包括形成所述多腿步行架主体的所述肩胛骨部分体部（210）一对缓冲连杆部件抛光冲击和振动，其根据其肩部部件主体和每个腿部之间的每个腿部的行走动作产生; 以及腿部安装单元（230），其设置在缓冲连接部和腿部之间，并且使腿部循环，使得腿部进行步行动作。缓冲连杆部分包括组合腿部安装单元的枢轴边缘（224）; 垂直组装部221可旋转，其中一侧组合在肩胛骨部分主体中，另一侧组合在枢转边缘224中，并使枢转边缘移动到垂直方向; 以及设置在垂直组装部分和肩胛骨部分主体之间的缓冲单元（225），并且根据垂直组装部分的移动来减轻冲击。

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