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71. 发明申请

US20110035053A1 Path planning apparatus and method of Robot 有权
标题翻译：机器人路径规划设备及方法
公开(公告)号：US20110035053A1
公开(公告)日：2011-02-10
申请号：US12805269
申请日：2010-07-21
申请人： Guochunxu , Kyung Shik Roh , San Lim , Bok Man Lim , Myung Hee Kim
发明人： Guochunxu , Kyung Shik Roh , San Lim , Bok Man Lim , Myung Hee Kim
IPC分类号： G05B19/04
CPC分类号： B25J9/1664 , G05B2219/40455
摘要： Disclosed herein is a path planning apparatus and method of a robot, in which a path, along which the robot accesses an object to grasp the object, is planned. The path planning method includes judging whether or not a robot hand of a robot collides with an obstacle when the robot hand moves along one access path candidate selected from plural access path candidates along which the robot hand accesses an object to grasp the object, calculating an access score of the selected access path candidate when the robot hand does not collide with the obstacle, and determining an access path plan using the access score of the selected access path candidate.
摘要翻译：这里公开了一种机器人的路径规划装置和方法，其中计划机器人访问对象以抓住对象的路径。所述路径规划方法包括：当所述机器人手从沿着所述机器人手访问对象的多个访问路径候选者中选择的一个访问路径候选者移动时，判断机器人的机器人手是否与障碍物碰撞以掌握所述对象，当机器人手不与障碍物碰撞时所选择的访问路径候选者的访问分数，以及使用所选择的访问路径候选者的访问分数来确定访问路径规划。

72. 发明申请

US20110035051A1 Path planning apparatus and method for robot 有权
标题翻译：机器人路径规划设备及方法
公开(公告)号：US20110035051A1
公开(公告)日：2011-02-10
申请号：US12805514
申请日：2010-08-03
申请人： Myung Hee Kim , Kyung Shik Roh , San Lim , Bok Man Lim , Guo Chunxu
发明人： Myung Hee Kim , Kyung Shik Roh , San Lim , Bok Man Lim , Guo Chunxu
IPC分类号： B25J9/02 , B25J19/02
CPC分类号： B25J9/1666 , G05B2219/40264
摘要： Disclosed herein are a path planning apparatus and a method for a robot to plan an optimal path along which a manipulator of a robot moves to a goal point from a start point. An obstacle within a prescribed angle on a straight line connecting a start point and a goal point is recognized as a middle point in a configuration space and arbitrary points separated from the middle point by a prescribed distance are selected. Among the selected points, arbitrary points which can directly connect the start point and the goal point without passing the obstacle are selected as waypoints to map a new middle node. A path is extended via the middle node and extension of a tree in a wrong direction is minimized so that the manipulator is not struck at local minima without depending greatly on a goal score, thereby improving the performance of path planning and rapidly searching for a path.
摘要翻译：这里公开了一种路径规划装置和机器人方法，用于规划机器人的操纵器从起始点移动到目标点的最佳路径。在连接起点和目标点的直线上的规定角度内的障碍物被识别为配置空间中的中点，并且选择与中点分开规定距离的任意点。在所选点中，选择可以直接连接起点和目标点而不通过障碍物的任意点作为路点，以映射新的中间节点。通过中间节点扩展路径，将错误方向的树的扩展最小化，使得操纵器不会受到局部最小值的攻击，而不依赖于目标分数，从而提高路径规划的性能并快速搜索路径。

73. 发明授权

US07877007B2 Omni-directional stereo camera and method of controlling thereof 有权
标题翻译：全方向立体摄像机及其控制方法
公开(公告)号：US07877007B2
公开(公告)日：2011-01-25
申请号：US11710492
申请日：2007-02-26
申请人： Sukjune Yoon , Kyung Shik Roh , Woosup Han , Seung Ki Min
发明人： Sukjune Yoon , Kyung Shik Roh , Woosup Han , Seung Ki Min
IPC分类号： G03B35/00 , G03B41/00 , G06K9/00
CPC分类号： G08B13/19626 , H04N13/239
摘要： An omni-directional stereo camera and a control method thereof. The omni-directional stereo camera includes two or more omni-directional cameras, and a supporting member installed within a shooting range between the omni-directional cameras to interconnect the omni-directional cameras and including compensation patterns formed at the surfaces.
摘要翻译：全方向立体摄像机及其控制方法。全方向立体摄像机包括两个或更多个全方位摄像机，以及安装在全方向摄像机之间的拍摄范围内的支撑构件，用于互连全向摄像机并且包括形成在表面处的补偿图案。

74. 发明申请

US20080232678A1 Localization method for a moving robot 有权
标题翻译：移动机器人的本地化方法
公开(公告)号：US20080232678A1
公开(公告)日：2008-09-25
申请号：US12010088
申请日：2008-01-18
申请人： Sukjune Yoon , Woosup Han , Seung Ki Min , Kyung Shik Roh
发明人： Sukjune Yoon , Woosup Han , Seung Ki Min , Kyung Shik Roh
IPC分类号： G06K9/00 , G06F19/00
CPC分类号： G06K9/00791 , G05D1/0246 , G06T7/246 , G06T7/74 , G06T2207/30252
摘要： A localization method of a moving robot is disclosed in which the moving robot includes: capturing a first omni-directional image by the moving robot; confirming at least one node at which a second omni-directional image having a high correlation with the first omni-directional image is captured; and determining that the moving robot is located at the first node when the moving robot reaches a first node, at which a second omni-directional image having a highest correlation with the first omni-directional image is captured, from among the at least one node.
摘要翻译：公开了一种移动机器人的定位方法，其中移动机器人包括：通过移动机器人捕获第一全方向图像; 确认至少一个节点，其中捕获与第一全方向图像具有高相关性的第二全方位图像; 以及当所述移动机器人到达第一节点时，确定所述移动机器人位于所述第一节点处，在所述第一节点处，从所述至少一个节点中捕获与所述第一全方向图像具有最高相关性的第二全向图像。

75. 发明授权

US07225552B2 Method and system to detect an orientation of a moving object 有权
标题翻译：检测移动物体的取向的方法和系统
公开(公告)号：US07225552B2
公开(公告)日：2007-06-05
申请号：US11204347
申请日：2005-08-16
申请人： Woong Kwon , Kyung Shik Roh , Woo Sup Han , Young Bo Shim
发明人： Woong Kwon , Kyung Shik Roh , Woo Sup Han , Young Bo Shim
IPC分类号： G01C17/38 , G01C21/00
CPC分类号： G01C25/00 , G01C17/02
摘要： Method and system to detect orientations of a moving object using one or more magnetic compasses. The method and system minimize magnetic field interference in a space where an object is moving such that the orientations of the moving object can be precisely detected. The method includes setting one or more earth magnetic field (EMF) conditions without a magnetic field interference component to determine whether the one or more magnetic compasses are located in an EMF area, calculating a magnitude of a magnetic field applied to the moving object using the one or more magnetic field compasses, and detecting an orientation of the moving object by determining whether the calculated magnitude of the magnetic field satisfies the one or more EMF conditions.
摘要翻译：使用一个或多个磁罗盘来检测移动物体的取向的方法和系统。该方法和系统使得物体移动的空间中的磁场干扰最小化，使得能够精确地检测移动物体的取向。该方法包括设置一个或多个地磁场（EMF）条件而没有磁场干扰分量来确定一个或多个磁罗盘是否位于EMF区域中，使用该方法计算施加到运动物体的磁场的大小一个或多个磁场罗盘，以及通过确定计算出的磁场大小是否满足一个或多个EMF条件来检测移动物体的取向。

76. 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。

77. 发明授权

US09333648B2 Control of robot hand to contact an object 有权
标题翻译：控制机器人手接触物体
公开(公告)号：US09333648B2
公开(公告)日：2016-05-10
申请号：US13275856
申请日：2011-10-18
申请人： Ji Young Kim , Yong Jae Kim , Kyung Shik Roh , Young Bo Shim
发明人： Ji Young Kim , Yong Jae Kim , Kyung Shik Roh , Young Bo Shim
IPC分类号： B25J13/08 , B25J9/16
CPC分类号： B25J9/1612 , B25J13/084 , G05B2219/39484 , G05B2219/39532
摘要： A robot control method and apparatus estimates an error based on information of an object obtained using a motor drive current sensor, a force sensor or a tactile sensor mounted at a robot hand and information of the object obtained using an optical sensor and compensates for the error. The robot control method and apparatus includes measuring information of an object using an optical sensor or calculating information of the object input by a user, moving a robot hand to the object based on the information of the object, controlling the thumb and fingers of the robot hand to contact the object based on the information of the object, determining whether the thumb and fingers have contacted the object through a motor drive current sensor, a force sensor or a tactile sensor, and grasping the object depending upon whether the thumb and the fingers have contacted the object.
摘要翻译：机器人控制方法和装置基于使用安装在机器人手的电动机驱动电流传感器，力传感器或触觉传感器获得的对象的信息以及使用光学传感器获得的对象的信息来估计误差，并补偿错误。机器人控制方法和装置包括使用光学传感器测量对象的信息或计算用户输入的对象的信息，基于对象的信息将机器人手移动到对象，控制机器人的拇指和手指根据物体的信息接触物体，确定拇指和手指是否通过马达驱动电流传感器，力传感器或触觉传感器接触物体，并且根据拇指和手指来抓住物体已经联系对象。

78. 发明授权

US09101324B2 Vital sign measurement robot and control method thereof 有权
标题翻译：生命体征测量机器人及其控制方法
公开(公告)号：US09101324B2
公开(公告)日：2015-08-11
申请号：US13296355
申请日：2011-11-15
申请人： Heum Yong Park , Yong Jae Kim , Youn Baek Lee , Jeong Hun Kim , Kyung Shik Roh , Young Do Kwon
发明人： Heum Yong Park , Yong Jae Kim , Youn Baek Lee , Jeong Hun Kim , Kyung Shik Roh , Young Do Kwon
IPC分类号： A61B5/04 , A61B5/00
CPC分类号： A61B5/4887 , A61B5/04 , A61B5/6835 , A61B5/6843 , A61B5/6844 , A61B5/6887
摘要： A vital sign measurement robot which automatically measures vital signs, and a control method thereof. The vital sign measurement robot includes an input unit to receive vital sign measurement instructions, an image recognition unit to detect a distance between the robot and a person, vital signs of whom are to be measured, and a measurement portion of the body of the person, when the vital sign measurement instructions are received, a control unit to move electrodes provided on hands so as to locate the electrodes at the measurement portion of the body of the person, when the distance between the robot and the person and the measurement portion of the body of the person are detected, and a vital sign measurement unit to measure a vital sign, when the electrodes are located at the measurement portion of the body of the person.
摘要翻译：一种自动测量生命体征的生命体征测量机器人及其控制方法。生物体征测量机器人包括用于接收生命体征测量指令的输入单元，用于检测机器人与人之间的距离的图像识别单元，要测量的人的生命体征以及人体的测量部分当接收到生物体征测量指令时，控制单元移动设置在手上的电极，以便当机器人与人的距离与测量部分之间的位置时，将电极定位在人体的测量部分检测人的身体，以及当电极位于人的身体的测量部分时，测量生命体征的生命体征测量单元。

79. 发明授权

US09002512B2 Robot and method of controlling walking thereof 有权
公开(公告)号：US09002512B2
公开(公告)日：2015-04-07
申请号：US12382244
申请日：2009-03-11
申请人： Jae Ho Park , Kyung Shik Roh , Woong Kwon
发明人： Jae Ho Park , Kyung Shik Roh , Woong Kwon
IPC分类号： G06F19/00 , B62D57/032 , B25J13/00 , B25J5/00
CPC分类号： B62D57/032 , Y10S901/01
摘要： Disclosed are a robot, which generates a stable walking pattern similar to that of a human, and a method of controlling walking thereof. The method includes generating a walking pattern of a leg connected to a torso of the robot; detecting whether or not a singularity pose of the leg walking according to the walking pattern is generated; and changing the walking pattern by adjusting a yaw direction angle of the torso when the singularity pose is generated.

80. 发明授权

US08958909B2 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：US08958909B2
公开(公告)日：2015-02-17
申请号：US13279633
申请日：2011-10-24
申请人： Min Hyung Lee , Kyung Shik Roh , Woong Kwon
发明人： Min Hyung Lee , Kyung Shik Roh , Woong Kwon
IPC分类号： B25J9/18 , B25J17/00 , B62D57/032 , B25J9/16
CPC分类号： B62D57/032 , B25J9/162 , G05B2219/40244 , G05B2219/40264
摘要： A walking robot and a control method thereof. The control method includes storing angle change data according to time corresponding to at least one joint unit of the robot using human walking data, extracting reference knot points from the angle change data according to time, and generating a reference walking trajectory using the extracted reference knot points, calculating a walking change factor to perform change between walking patterns of the robot, generating a target walking trajectory through an arithmetic operation between the reference walking trajectory and the calculated walking change factor, calculating a control torque to track the generated target walking trajectory, and transmitting the calculated control torque to the at least one joint unit so as to control walking of the robot, thereby achieving various walking patterns through a comparatively simple arithmetic operation process.
摘要翻译：一种步行机器人及其控制方法。所述控制方法包括根据与所述机器人的至少一个关节单元对应的时间，使用人体行走数据来存储角度变化数据，根据时间从所述角度变化数据中提取参考点，并使用所述提取的参考节点生成参考步行轨迹计算行走变化因子，以在机器人的行走模式之间进行变化，通过参考步行轨迹和计算出的行走变化因子之间的算术运算产生目标步行轨迹，计算跟踪产生的目标步行轨迹的控制扭矩，并将计算出的控制转矩发送到至少一个关节单元，以便控制机器人的行走，从而通过相对简单的算术运算处理来实现各种行走模式。

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