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11. 发明授权

US08909376B2 Robot hand and method of controlling the same 有权
标题翻译：机器人手和控制方法
公开(公告)号：US08909376B2
公开(公告)日：2014-12-09
申请号：US12588766
申请日：2009-10-27
申请人： Kyung Won Moon , Hyun Kyu Kim , Jong Do Choi
发明人： Kyung Won Moon , Hyun Kyu Kim , Jong Do Choi
IPC分类号： B66C1/42 , C25D11/04 , C25D7/00
CPC分类号： B25J15/0009 , B25J9/1612 , B25J9/1633 , G05B2219/39344 , G05B2219/39492
摘要： Disclosed herein is a method of controlling a robot hand similar to a hand of a human being such that the robot hand naturally and safely grasps an object. The robot hand, including fingers and a palm, is capable of naturally and safely grasping an object, by the tip of each finger performing impedance control while following the optimal path on a Cartesian coordinate system, although the robot hand cannot reach a position ideal to grasp the object due to sensor errors or shape information of the object to be grasped is not correctly recognized. Also, the robot hand is capable of stably grasping the object even when moving or manipulating the object.
摘要翻译：这里公开了一种控制类似于人的手的机器人手的方法，使得机器人手自然且安全地抓住物体。包括手指和手掌在内的机器人手能够自然地和安全地抓住物体，每个手指的尖端在跟随笛卡尔坐标系上的最佳路径时执行阻抗控制，尽管机器人手不能达到理想的位置由于传感器错误而抓住对象，或者被抓握对象的形状信息未被正确识别。此外，即使在移动或操纵物体时，机器人手也能够稳定地抓住物体。

12. 发明申请

US20120158174A1 METHOD TO GENERATE HUMANLIKE MOTION OF HUMANOID ROBOT 有权
标题翻译：生成人体运动人体运动的方法
公开(公告)号：US20120158174A1
公开(公告)日：2012-06-21
申请号：US13326508
申请日：2011-12-15
申请人： Kyung Won MOON , Jong Do Choi
发明人： Kyung Won MOON , Jong Do Choi
IPC分类号： G06F19/00
CPC分类号： G06N3/008
摘要： A method and apparatus to generate a humanlike motion of a humanoid robot which is capable of performing a humanlike breathing motion. For example, the method includes calculating target rotational angles of respective rotary joints to perform a basic motion according to a user command, calculating rotational angles of respective rotary joints to perform a breathing motion, and generating the breathing motion by adding up the target rotational angles of the respective rotary joints to perform the basic motion and the rotational angles to perform the breathing motion and providing the angles obtained thereby to respective rotary joints constituting joint units related to the breathing motion, thus providing intimacy and aesthetic stability to users.
摘要翻译：一种能够进行人类呼吸运动的人形机器人的人性运动的方法和装置。例如，该方法包括：根据用户命令，计算各个旋转接头的目标旋转角度，计算各个旋转接头的旋转角度，进行呼吸动作，以及通过将目标旋转角度相加来生成呼吸动作以执行基本运动和旋转角度以执行呼吸运动，并且将由此获得的角度提供给构成与呼吸运动有关的联合单元的各个旋转接头，从而为用户提供亲密和美观的稳定性。

13. 发明授权

US08751041B2 Method to generate humanlike motion of humanoid robot 有权
标题翻译：人形机器人人性化运动的方法
公开(公告)号：US08751041B2
公开(公告)日：2014-06-10
申请号：US13326508
申请日：2011-12-15
申请人： Kyung Won Moon , Jong Do Choi
发明人： Kyung Won Moon , Jong Do Choi
IPC分类号： G06F19/00
CPC分类号： G06N3/008
摘要： A method and apparatus to generate a humanlike motion of a humanoid robot which is capable of performing a humanlike breathing motion. For example, the method includes calculating target rotational angles of respective rotary joints to perform a basic motion according to a user command, calculating rotational angles of respective rotary joints to perform a breathing motion, and generating the breathing motion by adding up the target rotational angles of the respective rotary joints to perform the basic motion and the rotational angles to perform the breathing motion and providing the angles obtained thereby to respective rotary joints constituting joint units related to the breathing motion, thus providing intimacy and aesthetic stability to users.
摘要翻译：一种能够进行人类呼吸运动的人形机器人的人性运动的方法和装置。例如，该方法包括：根据用户命令，计算各个旋转接头的目标旋转角度，计算各个旋转接头的旋转角度，进行呼吸动作，以及通过将目标旋转角度相加来生成呼吸动作以执行基本运动和旋转角度以执行呼吸运动，并且将由此获得的角度提供给构成与呼吸运动有关的联合单元的各个旋转接头，从而为用户提供亲密和美观的稳定性。

14. 发明申请

US20090287354A1 ROBOT AND METHOD OF CONTROLLING COOPERATIVE WORK THEREOF 有权
标题翻译：机器人和控制合作工作的方法
公开(公告)号：US20090287354A1
公开(公告)日：2009-11-19
申请号：US12368673
申请日：2009-02-10
申请人： Jong Do Choi
发明人： Jong Do Choi
IPC分类号： B25J13/00
CPC分类号： B25J9/1682 , B25J9/1633 , G05B2219/39116 , G05B2219/39129 , G05B2219/39224 , G05B2219/39344
摘要： Disclosed are a robot, which performs cooperative work with a plurality of robot manipulators through impedance control, and a method of controlling cooperative work of the robot. The method includes calculating absolute coordinate positions of end effectors, respectively provided at a plurality of manipulators to perform the work; calculating a relative coordinate position from the absolute coordinate positions of the end effectors; calculating joint torques of the plurality of manipulators using the relative coordinate position; and controlling the cooperative work of the plurality of manipulators according to the joint torques.
摘要翻译：公开了一种机器人，其通过阻抗控制与多个机器人操纵器进行协同工作，以及控制机器人协同工作的方法。该方法包括计算分别设置在多个操纵器上的末端执行器的绝对坐标位置以执行工作; 从末端执行器的绝对坐标位置计算相对坐标位置; 使用所述相对坐标位置计算所述多个操纵器的接合扭矩; 以及根据关节扭矩控制多个操纵器的协作工作。

15. 发明授权

US08560123B2 Robot and method of controlling cooperative work thereof 有权
标题翻译：机器人及其合作工作的控制方法
公开(公告)号：US08560123B2
公开(公告)日：2013-10-15
申请号：US12368673
申请日：2009-02-10
申请人： Jong Do Choi
发明人： Jong Do Choi
IPC分类号： G05B19/04 , G05B19/18 , G05B15/00 , G05B19/00
CPC分类号： B25J9/1682 , B25J9/1633 , G05B2219/39116 , G05B2219/39129 , G05B2219/39224 , G05B2219/39344
摘要： Disclosed are a robot, which performs cooperative work with a plurality of robot manipulators through impedance control, and a method of controlling cooperative work of the robot. The method includes calculating absolute coordinate positions of end effectors, respectively provided at a plurality of manipulators to perform the work; calculating a relative coordinate position from the absolute coordinate positions of the end effectors; calculating joint torques of the plurality of manipulators using the relative coordinate position; and controlling the cooperative work of the plurality of manipulators according to the joint torques.
摘要翻译：公开了一种机器人，其通过阻抗控制与多个机器人操纵器进行协同工作，以及控制机器人协同工作的方法。该方法包括计算分别设置在多个操纵器上的末端执行器的绝对坐标位置以执行工作; 从末端执行器的绝对坐标位置计算相对坐标位置; 使用所述相对坐标位置计算所述多个操纵器的接合扭矩; 以及根据关节扭矩控制多个操纵器的协作工作。

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