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1. 发明申请

US20110172824A1 WALKING ROBOT AND METHOD OF CONTROLLING THE SAME 审中-公开
标题翻译：运动机器人及其控制方法
公开(公告)号：US20110172824A1
公开(公告)日：2011-07-14
申请号：US12979436
申请日：2010-12-28
申请人： Joong Kyung PARK , Kyung Shik Roh , Woong Kwon , Min Hyung Lee , Ho Seong Kwak
发明人： Joong Kyung PARK , Kyung Shik Roh , Woong Kwon , Min Hyung Lee , Ho Seong Kwak
IPC分类号： B25J9/10
CPC分类号： B62D57/032 , B25J9/1648 , G05B2219/23289
摘要： Disclosed herein are an apparatus and method for controlling stable walking of a robot based on torque. In a method of enabling stable walking by controlling torque of a hip joint portion using a Finite State Machine (FSM) without solving a complicated dynamic equation, torque of a stance leg is finally calculated using pose control torque of an upper body, pose control torque of a swing leg, and initial pose control torque of a stance leg supporting the upper body. Accordingly, the robot may stably walk with torque balance. Since gravity compensation torque is applied, a torso of the robot is not inclined and the pose of the robot is stably maintained.
摘要翻译：这里公开了一种用于基于扭矩控制机器人的稳定行走的装置和方法。在通过使用有限状态机（FSM）来控制髋关节部的扭矩而不求解复杂的动力学方式的情况下，能够进行稳定行走的方法，最后使用上身的姿势控制扭矩来计算姿势腿的扭矩，姿势控制扭矩的摆动腿，以及支撑上身的支撑腿的初始姿势控制扭矩。因此，机器人可以以扭矩平衡稳定地行走。由于施加了重力补偿扭矩，所以机器人的躯干不会倾斜，机器人的姿势得到稳定的保持。

2. 发明授权

US08874263B2 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：US08874263B2
公开(公告)日：2014-10-28
申请号：US13249950
申请日：2011-09-30
申请人： Ho Seong Kwak , Kyung Shik Roh , Woong Kwon , Min Hyung Lee , Joo Hyung Kim
发明人： Ho Seong Kwak , Kyung Shik Roh , Woong Kwon , Min Hyung Lee , Joo Hyung Kim
IPC分类号： B25J11/00 , B62D57/032
CPC分类号： B62D57/032 , Y10S901/01
摘要： A walking robot and a control method in which conversion between walking servo control methods is stably carried out. The walking robot includes a sensor unit to measure angles and torques of joints, and a control unit to calculate voltages applied in a Finite State Machine (FSM) control mode and a Zero Moment Point (ZMP) control mode according to the angles and torques of the joints to drive respective joint motors, to store last target joint angles in the FSM control mode during conversion from the FSM control mode to the ZMP control mode, and to perform a motion based on the FSM control mode by substituting the last target joint angles in the FSM control mode for target joint angles in the FSM control mode during conversion from the ZMP control mode to the FSM control mode, thereby performing stable conversion between walking servo control modes without joint sagging.
摘要翻译：一种行走机器人和其中稳定执行步行伺服控制方法之间的转换的控制方法。行走机器人包括用于测量关节角度和扭矩的传感器单元，以及控制单元，用于根据角度和转矩的角度和转矩来计算在有限状态机（FSM）控制模式和零点（ZMP）控制模式中施加的电压在从FSM控制模式到ZMP控制模式的转换期间，驱动各个关节电动机的关节，以在FSM控制模式中存储最后的目标关节角度，并且通过代替最后的目标关节角度来执行基于FSM控制模式的运动在FSM控制模式下，在从ZMP控制模式转换到FSM控制模式时，在FSM控制模式下的目标关节角度，从而在没有关节下垂的步行伺服控制模式之间进行稳定的转换。

3. 发明授权

US08676381B2 Humanoid robot and walking control method thereof 有权
标题翻译：人型机器人及其步行控制方法
公开(公告)号：US08676381B2
公开(公告)日：2014-03-18
申请号：US13006782
申请日：2011-01-14
申请人： Woong Kwon , Joong Kyung Park , Ju Suk Lee , Chang Hyun Roh , Min Hyung Lee , Jae Ho Park , Joo Hyang Kim , Ho Seong Kwak
发明人： Woong Kwon , Joong Kyung Park , Ju Suk Lee , Chang Hyun Roh , Min Hyung Lee , Jae Ho Park , Joo Hyang Kim , Ho Seong Kwak
IPC分类号： B25J17/00
CPC分类号： B62D57/032
摘要： A humanoid robot that achieves stable walking based on servo control of a joint torque and a walking control method thereof. The humanoid robot calculates a joint position trajectory compensation value and a joint torque compensation value using a measurement value of a sensor, compensates for a joint position trajectory and a joint torque using the calculated compensation value, and drives a motor mounted to each joint according to the compensated joint torque.
摘要翻译：一种基于关节扭矩的伺服控制实现稳定行走的人形机器人及其步行控制方法。类人形机器人使用传感器的测量值来计算关节位置轨迹补偿值和关节扭矩补偿值，使用计算出的补偿值来补偿关节位置轨迹和关节扭矩，并且驱动安装到每个关节的马达根据补偿关节扭矩。

4. 发明授权

US08498743B2 Robot and method of controlling balance thereof 有权
标题翻译：机器人及其平衡方法
公开(公告)号：US08498743B2
公开(公告)日：2013-07-30
申请号：US12588847
申请日：2009-10-29
申请人： Ho Seong Kwak , Kyung Shik Roh , Woong Kwon
发明人： Ho Seong Kwak , Kyung Shik Roh , Woong Kwon
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： A finite state machine (FSM)-based biped robot, to which a limit cycle is applied to balance the robot right and left on a two-dimensional space, and a method of controlling balance of the robot. In order to balance an FSM-based biped robot right and left on a two-dimensional space, control angles to balance the robot according to states of the FSM-based biped robot are set. The range of the control angles is restricted to reduce the maximum right and left moving distance of the biped robot and thus to reduce the maximum right and left moving velocity of the biped robot, thereby reducing the sum total of the moments of the biped robot and thus allowing the ankles of the biped robot to balance the biped robot to be controlled, and causing the soles of the feet of the biped robot to parallel contact the ground.
摘要翻译：基于有限状态机（FSM）的双足机器人，其应用极限循环以在二维空间上左右平衡机器人，以及控制机器人平衡的方法。为了平衡基于FSM的两足动物机器人在二维空间上的左右左右，设置了根据基于FSM的两足动物机器人的状态来平衡机器人的控制角度。控制角度的范围被限制以减少双足机器人的最大左右移动距离，从而减少双足机器人的最大左右移动速度，从而减少两足动物机器人的力矩总和从而允许Biped机器人的脚踝平衡要被控制的Biped机器人，并且使得双足机器人脚部的底脚平行地接触地面。

5. 发明授权

US08498742B2 Robot and method of controlling balance thereof 有权
标题翻译：机器人及其平衡方法
公开(公告)号：US08498742B2
公开(公告)日：2013-07-30
申请号：US12588846
申请日：2009-10-29
申请人： Ho Seong Kwak , Woong Kwon , Kyung Shik Roh
发明人： Ho Seong Kwak , Woong Kwon , Kyung Shik Roh
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： An finite state machine (FSM)-based biped walking robot, to which a limit cycle is applied to balance the robot right and left on a two-dimensional space, and a method of controlling balance of the robot. In order to balance an FSM-based biped walking robot right and left on a two-dimensional space, control angles to balance the robot according to states of the FSM-based biped walking robot are set, and the control angles are controlled using a sinusoidal function to allow relations between the control angles and control angular velocities to form a stable closed loop within a limit cycle, thereby allowing the biped walking robot to balance itself while changing its supporting foot and thus to safely walk without falling down.
摘要翻译：基于有限状态机（FSM）的两足动作机器人，其中应用了限制循环来平衡机器人在二维空间上的左右左右，以及一种控制机器人平衡的方法。为了平衡基于FSM的两足动物机器人在二维空间上的左右左右，设置了根据基于FSM的双足步行机器人的状态来平衡机器人的控制角度，并且使用正弦曲线来控制控制角度功能是允许控制角和控制角速度之间的关系在极限循环内形成稳定的闭环，从而允许双足步行机器人在改变其支撑脚的同时平衡自身，从而安全地行走而不会掉落。

6. 发明授权

US08423183B2 Robot and method of controlling the same 有权
标题翻译：机器人及其控制方法
公开(公告)号：US08423183B2
公开(公告)日：2013-04-16
申请号：US12591122
申请日：2009-11-09
申请人： Ho Seong Kwak , Woong Kwon , Kyung Shik Roh
发明人： Ho Seong Kwak , Woong Kwon , Kyung Shik Roh
IPC分类号： G06F19/00 , G05B19/00 , B25J9/18 , B25J5/00 , B62D51/06
CPC分类号： B62D57/032
摘要： Disclosed is a method of generating a hip trajectory of a biped walking robot to allow the robot to stably walk on a two-dimensional space without falling down. An angular velocity of a hip of a swinging leg is obtained by measuring the angle/angular velocity of an ankle pitch joint part of a supporting leg in real time when the robot walks on the two-dimensional space, and desired trajectories of the ankle and the hip are generated based on the angular velocity of the ankle of the supporting leg and the angular velocity of the hip of the swinging leg.
摘要翻译：公开了一种生成双足步行机器人的髋部轨迹以允许机器人在二维空间上稳定地行走而不摔倒的方法。通过在机器人在二维空间上行进时实时地测量支撑腿的踝关节部分的角度/角速度，以及踝关节的期望轨迹，获得摆动腿的髋部的角速度基于支撑腿的脚踝的角速度和摆动腿的髋部的角速度来生成臀部。

7. 发明申请

US20100161116A1 Robot and method of controlling balance thereof 有权
标题翻译：机器人及其平衡方法
公开(公告)号：US20100161116A1
公开(公告)日：2010-06-24
申请号：US12588847
申请日：2009-10-29
申请人： Ho Seong Kwak , Kyung Shik Roh , Woong Kwon
发明人： Ho Seong Kwak , Kyung Shik Roh , Woong Kwon
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： A finite state machine (FSM)-based biped robot, to which a limit cycle is applied to balance the robot right and left on a two-dimensional space, and a method of controlling balance of the robot. In order to balance an FSM-based biped robot right and left on a two-dimensional space, control angles to balance the robot according to states of the FSM-based biped robot are set. The range of the control angles is restricted to reduce the maximum right and left moving distance of the biped robot and thus to reduce the maximum right and left moving velocity of the biped robot, thereby reducing the sum total of the moments of the biped robot and thus allowing the ankles of the biped robot to balance the biped robot to be controlled, and causing the soles of the feet of the biped robot to parallel contact the ground.
摘要翻译：基于有限状态机（FSM）的双足机器人，其应用极限循环以在二维空间上左右平衡机器人，以及控制机器人平衡的方法。为了平衡基于FSM的两足动物机器人在二维空间上的左右左右，设置了根据基于FSM的两足动物机器人的状态来平衡机器人的控制角度。控制角度的范围被限制以减少双足机器人的最大左右移动距离，从而减少双足机器人的最大左右移动速度，从而减少两足动物机器人的力矩总和从而允许Biped机器人的脚踝平衡要被控制的Biped机器人，并且使得双足机器人脚部的底脚平行地接触地面。

8. 发明授权

US08301303B2 Robot and method of controlling the same 有权
标题翻译：机器人及其控制方法
公开(公告)号：US08301303B2
公开(公告)日：2012-10-30
申请号：US12591120
申请日：2009-11-09
申请人： Ho Seong Kwak , Woong Kwon , Kyung Shik Roh
发明人： Ho Seong Kwak , Woong Kwon , Kyung Shik Roh
IPC分类号： G05B19/18
CPC分类号： B62D57/032
摘要： Disclosed is a method of defining control angles to use a limit cycle in order to balance a biped walking robot on a three-dimensional space. In order to balance an FSM-based biped walking robot right and left on a three-dimensional space, limit cycle control angles to balance the robot according to states of the FSM-based robot are set on the three-dimensional space, and the limit cycle control angles on the three-dimensional space are controlled using a sinusoidal function to allow relations between the control angles and control angular velocities to form a stable closed loop within a limit cycle.
摘要翻译：公开了一种定义控制角度以使用极限循环以便在三维空间上平衡两足动作机器人的方法。为了在三维空间上平衡基于FSM的两足动物机器人左右两侧，根据基于FSM的机器人的状态将机器人的平衡控制角限制在三维空间上，极限使用正弦函数来控制三维空间上的周期控制角，以允许控制角和控制角速度之间的关系在极限循环内形成稳定的闭环。

9. 发明申请

US20110040410A1 APPARATUS AND METHOD CONTROLLING LEGGED MOBILE ROBOT 审中-公开
标题翻译：控制移动机器人的装置和方法
公开(公告)号：US20110040410A1
公开(公告)日：2011-02-17
申请号：US12853879
申请日：2010-08-10
申请人： Joo Hyung KIM , Kyung Shik Roh , Woong Kwon , Jeong Heon Han , Jae Ho Park , Ho Seong Kwak
发明人： Joo Hyung KIM , Kyung Shik Roh , Woong Kwon , Jeong Heon Han , Jae Ho Park , Ho Seong Kwak
IPC分类号： B25J9/00
CPC分类号： B62D57/032
摘要： Disclosed is an apparatus and method adjusting motion of each joint of a robot to compensate for friction force of each joint such that the sole of the foot of the robot clings to the ground. The motion of each joint is adjusted as if gravity acts on each joint of the robot in a direction opposite to gravity and the robot is held in an erect state. Therefore, the robot can stand while keeping its balance without falling.
摘要翻译：公开了一种调节机器人每个关节的运动的装置和方法，以补偿每个关节的摩擦力，使得机器人的脚底贴靠地面。调整每个关节的运动，好像重力在与重力相反的方向作用在机器人的每个关节上，并且机器人处于直立状态。因此，机器人可以保持平衡而不会下降。

10. 发明申请

US20100161118A1 Robot and method of controlling the same 有权
标题翻译：机器人及其控制方法
公开(公告)号：US20100161118A1
公开(公告)日：2010-06-24
申请号：US12591122
申请日：2009-11-09
申请人： Ho Seong Kwak , Woong Kwon , Kyung Shik Roh
发明人： Ho Seong Kwak , Woong Kwon , Kyung Shik Roh
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： Disclosed is a method of generating a hip trajectory of a biped walking robot to allow the robot to stably walk on a two-dimensional space without falling down. An angular velocity of a hip of a swinging leg is obtained by measuring the angle/angular velocity of an ankle pitch joint part of a supporting leg in real time when the robot walks on the two-dimensional space, and desired trajectories of the ankle and the hip are generated based on the angular velocity of the ankle of the supporting leg and the angular velocity of the hip of the swinging leg.
摘要翻译：公开了一种生成双足步行机器人的髋部轨迹以允许机器人在二维空间上稳定地行走而不摔倒的方法。通过在机器人在二维空间上行进时实时地测量支撑腿的踝关节部分的角度/角速度，以及踝关节的期望轨迹，获得摆动腿的髋部的角速度基于支撑腿的脚踝的角速度和摆动腿的髋部的角速度来生成臀部。

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