专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明授权

US08447429B2 Apparatus and method for balancing and damping control in whole body coordination framework for biped humanoid robot 有权
标题翻译：双足类人机器人全身协调框架平衡和阻尼控制装置及方法
公开(公告)号：US08447429B2
公开(公告)日：2013-05-21
申请号：US12809004
申请日：2007-12-21
申请人： Young-Hwan Chang , Yong Hwan Oh , Doik Kim , Youngjin Choi , Bum-Jae You
发明人： Young-Hwan Chang , Yong Hwan Oh , Doik Kim , Youngjin Choi , Bum-Jae You
IPC分类号： G05B19/04 , G05B19/18 , G05B15/00 , G05B19/00
CPC分类号： G05D1/0891 , B62D57/032 , G05D19/02
摘要： Apparatus and a method for balancing and damping control in whole body coordination framework for a biped humanoid robot. The method comprises the steps of: (a) damping the structural vibration of the main body of the robot caused when the robot walks; (b) compensating for the trajectories of the zero moment position (ZMP) and the center of mass (COM) of the robot which changes in accordance with the damping of the structural vibration; and (c) compensating for the body orientation of the robot which changes in accordance with the damping of the structural vibration and the trajectory of the COM.
摘要翻译：用于双足类人形机器人的全身协调框架中的平衡和阻尼控制的装置和方法。该方法包括以下步骤：（a）阻止机器人行走时机器人主体的结构振动; （b）补偿根据结构振动的阻尼变化的机器人的零力矩位置（ZMP）和质心（COM）的轨迹; 和（c）补偿根据结构振动的阻尼和COM轨迹变化的机器人的身体方位。

2. 发明申请

US20120045068A1 SELF-FAULT DETECTION SYSTEM AND METHOD FOR MICROPHONE ARRAY AND AUDIO-BASED DEVICE 审中-公开
标题翻译：用于麦克风阵列和基于音频的设备的自我故障检测系统和方法
公开(公告)号：US20120045068A1
公开(公告)日：2012-02-23
申请号：US12860510
申请日：2010-08-20
申请人： Jinsung Kim , Bum-Jae You
发明人： Jinsung Kim , Bum-Jae You
IPC分类号： H04R29/00
CPC分类号： H04R29/005
摘要： Disclosed herein is a self-fault detection system and method in a microphone array system, in which features for self-fault detection of a microphone array are formed using internal values of a voice activity detector (VAD) with respect to audio signals respectively outputted from a plurality of microphones, the features generated with respect to each of the microphones are mutually and automatically compared without a special reference signal, thereby self-detecting fault microphones.
摘要翻译：这里公开了一种麦克风阵列系统中的自我故障检测系统和方法，其中使用关于音频信号的语音活动检测器（VAD）的内部值来形成麦克风阵列的自我故障检测的特征，该音频信号分别从多个麦克风，相对于每个麦克风产生的特征在没有特殊参考信号的情况下相互自动比较，从而自我检测故障麦克风。

3. 发明申请

US20110196532A1 APPARATUS AND METHOD FOR BALANCING AND DAMPING CONTROL IN WHOLE BODY COORDINATION FRAMEWORK FOR BIPED HUMANOID ROBOT 有权
标题翻译： BIPED人体机器人身体协调框架平衡和阻尼控制的装置和方法
公开(公告)号：US20110196532A1
公开(公告)日：2011-08-11
申请号：US12809004
申请日：2007-12-21
申请人： Young-Hwan Chang , Yong Hwan Oh , Doik Kim , Youngjin Choi , Bum-Jae You
发明人： Young-Hwan Chang , Yong Hwan Oh , Doik Kim , Youngjin Choi , Bum-Jae You
IPC分类号： B25J9/16
CPC分类号： G05D1/0891 , B62D57/032 , G05D19/02
摘要： Apparatus and a method for balancing and damping control in whole body coordination framework for a biped humanoid robot. The method comprises the steps of: (a) damping the structural vibration of the main body of the robot caused when the robot walks; (b) compensating for the trajectories of the zero moment position (ZMP) and the center of mass (COM) of the robot which change in accordance with the damping of the structural vibration; and (c) compensating for the body orientation of the robot which changes in accordance with the damping of the structural vibration and the trajectory of the COM.
摘要翻译：用于双足类人形机器人的全身协调框架中的平衡和阻尼控制的装置和方法。该方法包括以下步骤：（a）阻止机器人行走时机器人主体的结构振动; （b）补偿根据结构振动的阻尼变化的机器人的零力矩位置（ZMP）和质心（COM）的轨迹; 和（c）补偿根据结构振动的阻尼和COM轨迹变化的机器人的身体方位。

4. 发明申请

US20090271037A1 METHOD OF GENERATING A WALKING PATTERN FOR A HUMANOID ROBOT 有权
标题翻译：生成人类机器人运动模式的方法
公开(公告)号：US20090271037A1
公开(公告)日：2009-10-29
申请号：US12260173
申请日：2008-10-29
申请人： Seok Min Hong , Yong Hwan Oh , Young Hwan Chang , Do Ik Kim , Bum Jae You
发明人： Seok Min Hong , Yong Hwan Oh , Young Hwan Chang , Do Ik Kim , Bum Jae You
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： The present invention may provide a method of generating a walking pattern for a humanoid robot. The method of generating the walking pattern for the humanoid includes determining a position of a next Zero Moment Point (ZMP) along a moving direction of the humanoid robot, obtaining a first condition for generating a walking pattern based on the determined ZMP by using a periodic step module, generating trajectories of a ZMP and a Center of Mass (CoM) in an initial step based on the first condition and an initial value obtained from an initial state of the humanoid robot by using a transient step module, generating trajectories of a ZMP and a CoM in a steady step based on the ZMP of two steps by using a steady step module, and generating trajectories of a ZMP and a CoM in a final step by using the transient step module.
摘要翻译：本发明可以提供一种生成人形机器人的步行图案的方法。用于生成人形生物的步行图案的方法包括确定沿类人形机器人的移动方向的下一个零时刻点（ZMP）的位置，通过使用周期性的方法获得基于所确定的ZMP产生步行模式的第一条件基于第一条件在初始步骤中产生ZMP和质量中心（CoM）的轨迹，以及通过使用瞬态步进模块从人形机器人的初始状态获得的初始值，生成ZMP的轨迹以及通过使用稳定的步进模块基于两步的ZMP在稳定步骤中的CoM，并且通过使用瞬态步骤模块在最终步骤中生成ZMP和CoM的轨迹。

5. 发明授权

US06731089B2 Flexible and compact motor control module based on the can communication network 失效
标题翻译：基于可通信网络的灵活紧凑的电机控制模块
公开(公告)号：US06731089B2
公开(公告)日：2004-05-04
申请号：US09996915
申请日：2001-11-30
申请人： Young Jo Cho , Sung On Lee , Bum Jae You , Sang Rok Oh
发明人： Young Jo Cho , Sung On Lee , Bum Jae You , Sang Rok Oh
IPC分类号： G05B1101
CPC分类号： H02P7/2805
摘要： The present invention relates to a flexible and compact motor control module based on the Controller Area Network (CAN) communication network. More specifically, the present invention relates to a motor control module which is based on the ISO11898 standard Controller Area Network (CAN), recognized for its suitability in the communication of intelligent sensors and actuators, and also capable of obtaining the location, speed and torque control commands of a motor and executing digital control functions irrespective of motor's type and power consumption, transmitting feedback data.
摘要翻译：本发明涉及一种基于控制器局域网（CAN）通信网络的灵活紧凑的电机控制模块。更具体地，本发明涉及一种基于ISO11898标准控制器局域网（CAN）的电动机控制模块，其被认为是智能传感器和致动器的通信中的适用性，并且还能够获得位置，速度和扭矩控制电机的命令，执行数字控制功能，无论电机的类型和功耗如何，都能传输反馈数据。

6. 发明授权

US09077974B2 3D video-teleconferencing apparatus capable of eye contact and method using the same 有权
标题翻译：能够接触眼睛的3D视讯会议装置及其使用方法
公开(公告)号：US09077974B2
公开(公告)日：2015-07-07
申请号：US13885998
申请日：2012-07-06
申请人： Bum-Jae You , Eun-Kyung Lee , Ji-Yong Lee , Jai-Hi Cho , Shin-Young Kim
发明人： Bum-Jae You , Eun-Kyung Lee , Ji-Yong Lee , Jai-Hi Cho , Shin-Young Kim
IPC分类号： H04N7/14 , H04N13/02
CPC分类号： H04N13/204 , H04N7/142 , H04N7/144 , H04N13/239 , H04N13/271
摘要： Disclosed herein is a 3D teleconferencing apparatus and method enabling eye contact. The 3D teleconferencing apparatus enabling eye contact according to the present invention includes an image acquisition unit for acquiring depth images and color images by manipulating cameras in real time in consideration of images obtained by capturing a subject that is a teleconference participant and images received over a network and corresponding to a counterpart involved in the teleconference; a full face generation unit for generating a final depth image and a final color image corresponding to a full face of the participant for eye contact using the depth images and the color images; and a 3D image generation unit for generating a 3D image corresponding to the counterpart and displaying the 3D image on a display device.
摘要翻译：这里公开了一种能够进行眼神接触的3D电话会议装置和方法。根据本发明的能够进行眼睛接触的3D电话会议装置包括：图像获取单元，用于通过考虑通过捕获作为电话会议参与者的对象和通过网络接收的图像获得的图像实时地操纵相机来获取深度图像和彩色图像并对应于参与电话会议的对方; 全面部生成单元，用于使用深度图像和彩色图像生成对应于参与者的全脸的最终深度图像和最终彩色图像; 以及3D图像生成单元，用于生成与对方相对应的3D图像，并在显示装置上显示3D图像。

7. 发明申请

US20080281469A1 Method For Controlling the Walk of Humanoid Robot 有权
标题翻译：控制人型机器人步行的方法
公开(公告)号：US20080281469A1
公开(公告)日：2008-11-13
申请号：US12090350
申请日：2005-10-24
申请人： Young Jin Choi , Do Ik Kim , Yong Hwan Oh , Chang Hwan Kim , Bum Jae You , Jung San Cho
发明人： Young Jin Choi , Do Ik Kim , Yong Hwan Oh , Chang Hwan Kim , Bum Jae You , Jung San Cho
IPC分类号： G05B19/19
CPC分类号： B62D57/032
摘要： The invention relates to a method for controlling walking of humanoid bipedal walking robot. More specifically, the invention comprises steps of designing a zero momentum position (ZMP) of a robot for the ground surface (a); calculating trajectories of a center of gravity (COG) of the robot along with the trajectory of the ZMP (b); calculating an angular velocity of driving motors of two feet, which has the robot walk according to the trajectory of the ZMP (c); and controlling walking of the robot by driving the driving motors according to the angular velocity of the driving motors calculated above. The robot walking control method according to the invention has stability against disturbances.
摘要翻译：本发明涉及一种用于控制人形二足步行机器人步行的方法。更具体地，本发明包括设计用于地面（a）的机器人的零动量位置（ZMP）的步骤。计算机器人的重心（COG）轨迹与ZMP（b）的轨迹的轨迹; 计算具有根据ZMP（c）的轨迹的机器人行走的两英尺的驱动电动机的角速度; 以及通过根据上述计算的驱动马达的角速度驱动驱动马达来控制机器人的行走。根据本发明的机器人步行控制方法具有抗干扰的稳定性。

8. 发明申请

US20140218467A1 3D Video-Teleconferencing Apparatus Capable of Eye Contact and Method Using the Same 有权
标题翻译：具有眼睛接触能力的3D视频 - 电话会议装置及其使用方法
公开(公告)号：US20140218467A1
公开(公告)日：2014-08-07
申请号：US13885998
申请日：2012-07-06
申请人： Bum-Jae You , Eun-Kyung Lee , Ji-Yong Lee , Jai-Hi cho , Shin-Young Kim
发明人： Bum-Jae You , Eun-Kyung Lee , Ji-Yong Lee , Jai-Hi cho , Shin-Young Kim
IPC分类号： H04N7/14 , H04N13/02
CPC分类号： H04N13/204 , H04N7/142 , H04N7/144 , H04N13/239 , H04N13/271
摘要： Disclosed herein is a 3D teleconferencing apparatus and method enabling eye contact. The 3D teleconferencing apparatus enabling eye contact according to the present invention includes an image acquisition unit for acquiring depth images and color images by manipulating cameras in real time in consideration of images obtained by capturing a subject that is a teleconference participant and images received over a network and corresponding to a counterpart involved in the teleconference; a full face generation unit for generating a final depth image and a final color image corresponding to a full face of the participant for eye contact using the depth images and the color images; and a 3D image generation unit for generating a 3D image corresponding to the counterpart and displaying the 3D image on a display device.
摘要翻译：这里公开了一种能够进行眼神接触的3D电话会议装置和方法。根据本发明的能够进行眼睛接触的3D电话会议装置包括：图像获取单元，用于通过考虑通过捕获作为电话会议参与者的对象和通过网络接收的图像获得的图像实时地操纵相机来获取深度图像和彩色图像并对应于参与电话会议的对方; 全面部生成单元，用于使用深度图像和彩色图像生成对应于参与者的全脸的最终深度图像和最终彩色图像; 以及3D图像生成单元，用于生成与对方相对应的3D图像，并在显示装置上显示3D图像。

9. 发明授权

US08738178B2 Method for controlling the walk of humanoid robot 有权
标题翻译：控制人形机器人步行的方法
公开(公告)号：US08738178B2
公开(公告)日：2014-05-27
申请号：US12090350
申请日：2005-10-24
申请人： Young Jin Choi , Do Ik Kim , Yong Hwan Oh , Chang Hwan Kim , Bum Jae You , Jung San Cho
发明人： Young Jin Choi , Do Ik Kim , Yong Hwan Oh , Chang Hwan Kim , Bum Jae You , Jung San Cho
IPC分类号： G05B19/18
CPC分类号： B62D57/032
摘要： The invention relates to a method for controlling walking of humanoid bipedal walking robot. More specifically, the invention comprises steps of designing a zero momentum position (ZMP) of a robot for the ground surface (a); calculating trajectories of a center of gravity (COG) of the robot along with the trajectory of the ZMP (b); calculating an angular velocity of driving motors of two feet, which has the robot walk according to the trajectory of the ZMP (c); and controlling walking of the robot by driving the driving motors according to the angular velocity of the driving motors calculated above. The robot walking control method according to the invention has stability against disturbances.
摘要翻译：本发明涉及一种用于控制人形二足步行机器人步行的方法。更具体地，本发明包括设计用于地面（a）的机器人的零动量位置（ZMP）的步骤。计算机器人的重心（COG）轨迹与ZMP（b）的轨迹的轨迹; 计算具有根据ZMP（c）的轨迹的机器人行走的两英尺的驱动电动机的角速度; 以及通过根据上述计算的驱动马达的角速度驱动驱动马达来控制机器人的行走。根据本发明的机器人步行控制方法具有抗干扰的稳定性。

10. 发明授权

US08126594B2 Method of generating a walking pattern for a humanoid robot 有权
标题翻译：生成人形机器人步行图案的方法
公开(公告)号：US08126594B2
公开(公告)日：2012-02-28
申请号：US12260173
申请日：2008-10-29
申请人： Seok Min Hong , Yong Hwan Oh , Young Hwan Chang , Do Ik Kim , Bum Jae You
发明人： Seok Min Hong , Yong Hwan Oh , Young Hwan Chang , Do Ik Kim , Bum Jae You
IPC分类号： G05B19/04 , G05B19/18
CPC分类号： B62D57/032
摘要： The present invention may provide a method of generating a walking pattern for a humanoid robot. The method of generating the walking pattern for the humanoid includes determining a position of a next Zero Moment Point (ZMP) along a moving direction of the humanoid robot, obtaining a first condition for generating a walking pattern based on the determined ZMP by using a periodic step module, generating trajectories of a ZMP and a Center of Mass (CoM) in an initial step based on the first condition and an initial value obtained from an initial state of the humanoid robot by using a transient step module, generating trajectories of a ZMP and a CoM in a steady step based on the ZMP of two steps by using a steady step module, and generating trajectories of a ZMP and a CoM in a final step by using the transient step module.
摘要翻译：本发明可以提供一种生成人形机器人的步行图案的方法。用于生成人形生物的步行图案的方法包括确定沿类人形机器人的移动方向的下一个零时刻点（ZMP）的位置，通过使用周期性的方法获得基于所确定的ZMP产生步行模式的第一条件基于第一条件在初始步骤中产生ZMP和质量中心（CoM）的轨迹，以及通过使用瞬态步进模块从人形机器人的初始状态获得的初始值，生成ZMP的轨迹以及通过使用稳定的步进模块基于两步的ZMP在稳定步骤中的CoM，并且通过使用瞬态步骤模块在最终步骤中生成ZMP和CoM的轨迹。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式