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1. 发明授权

US09044862B2 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：US09044862B2
公开(公告)日：2015-06-02
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： G01C21/34 , B25J9/16 , G01C22/00 , G05B19/04 , G05B19/18
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。

2. 发明授权

US08825209B2 Method and apparatus to plan motion path of robot 有权
标题翻译：计算机器人运动路径的方法和装置
公开(公告)号：US08825209B2
公开(公告)日：2014-09-02
申请号：US12805271
申请日：2010-07-21
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： B25J9/16
CPC分类号： B25J9/1666 , G05B2219/40264 , G05D1/0214 , G05D2201/0217
摘要： If a manipulator of a robot falls in local minima when expanding a node to generate a path, the manipulator may efficiently escape from local minima by any one of a random escaping method and a goal function changing method or a combination thereof to generate the path. When the solution of inverse kinematics is not obtained due to local minima or when the solution of inverse kinematics is not obtained due to an inaccurate goal function, an optimal motion path to avoid an obstacle may be efficiently searched for. The speed to obtain the solution may be increased and thus the time consumed to search for the optimal motion path may be shortened.
摘要翻译：如果在扩展节点以生成路径时机器人的操纵器落入局部最小值中，则操纵器可以通过随机转义方法和目标函数改变方法或其组合中的任何一种来有效地从本地最小值逃逸以生成路径。当由于局部最小值而不能获得反向运动学的解时，或者由于不准确的目标函数而不能获得反向运动学的解，可以有效地搜索避免障碍物的最佳运动路径。获得解决方案的速度可能会增加，从而可以缩短搜索最佳运动路径所消耗的时间。

3. 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。

4. 发明授权

US09411335B2 Method and apparatus to plan motion path of robot 有权
标题翻译：计算机器人运动路径的方法和装置
公开(公告)号：US09411335B2
公开(公告)日：2016-08-09
申请号：US12805270
申请日：2010-07-21
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： G05B19/04 , G05D1/02 , B25J9/16 , G05B19/18 , G06F19/00 , G06F17/10
CPC分类号： G05D1/0217 , B25J9/1666 , G05D1/0274 , G05D2201/0216 , G05D2201/0217
摘要： A suitable waypoint is selected using a goal score, a section from a start point to a goal point through the waypoint is divided into a plurality of sections based on the waypoint with a solution of inverse kinematics, and trees are simultaneously expanded in the sections using a Best First Search & Rapidly Random Tree (BF-RRT) algorithm so as to generate a path. By this configuration, a probability of local minima occurring is decreased compared with the case where the waypoint is randomly selected. In addition, since the trees are simultaneously expanded in the sections each having the waypoint with a solution of inverse kinematics, the solution may be rapidly obtained. A time consumed to search for an optimal motion path may be shortened and path plan performance may be improved.
摘要翻译：使用目标分数选择合适的航点，通过航路点从起始点到目标点的部分根据航点与基于反向运动学的解方法分为多个部分，并且在各部分中同时扩展树最佳搜索和快速随机树（BF-RRT）算法，以生成路径。通过该配置，与随机选择航点的情况相比，发生局部最小值的概率降低。另外，由于在具有反运动学解的路点的部分中同时扩展树，所以可以快速获得解。可以缩短搜索最佳运动路径消耗的时间，并且可以提高路径规划性能。

5. 发明申请

US20110040407A1 APPARATUS AND METHOD FOR STABILIZING HUMANOID ROBOT 有权
标题翻译：用于稳定人类机器人的装置和方法
公开(公告)号：US20110040407A1
公开(公告)日：2011-02-17
申请号：US12850085
申请日：2010-08-04
申请人： Bok Man LIM , Kyung Shik Roh , San Lim , Myung Hee Kim , Guo Chun Xu
发明人： Bok Man LIM , Kyung Shik Roh , San Lim , Myung Hee Kim , Guo Chun Xu
IPC分类号： G05B19/04 , G05B15/00
CPC分类号： B25J9/162 , B25J9/1638 , G05B2219/39215 , G05B2219/39325 , G05B2219/40264
摘要： Disclosed is a humanoid robot apparatus, method and computer-readable medium thereof related to lifting and holding a heavy object having a weight unknown to the robot, by measuring an external force acting on the robot. Linear momentum and rotational momentum are compensated for stepwise according to the degree of stability of the robot which is determined based on the measured external force. Accordingly, the robot stably lifts and holds the object without losing its balance.
摘要翻译：公开了一种人形机器人装置，方法和计算机可读介质，其涉及通过测量作用在机器人上的外力来提升和保持具有机器人未知的重量的重物体。根据基于测量的外力确定的机器人的稳定度，逐步补偿线性动量和旋转动量。因此，机器人稳定地提升并保持物体而不失去平衡。

6. 发明授权

US09037292B2 Robot and control method of optimizing robot motion performance thereof 有权
标题翻译：优化机器人运动性能的机器人和控制方法
公开(公告)号：US09037292B2
公开(公告)日：2015-05-19
申请号：US12926078
申请日：2010-10-25
申请人： Bok Man Lim , Kyung Shik Roh , San Lim , Myung Hee Kim
发明人： Bok Man Lim , Kyung Shik Roh , San Lim , Myung Hee Kim
IPC分类号： G06F19/00 , B62D57/032
CPC分类号： B62D57/032
摘要： A robot and a method of controlling the same are disclosed. The robot derives a maximum dynamic performance capability using a specification of an actuator of the robot. The control method includes forming a first bell-shaped velocity profile in response to a start time and an end time of a motion of the robot, calculating a value of an objective function having a limited condition according to the bell-shaped velocity profile, and driving a joint in response to a second bell-shaped velocity profile that minimizes the objective function having the limited condition.
摘要翻译：公开了一种机器人及其控制方法。机器人使用机器人的执行器的规格来获得最大的动态性能。所述控制方法包括响应于所述机器人的运动的开始时间和结束时间来形成第一钟形速度分布，根据钟形速度分布计算具有有限状况的目标函数的值，以及响应于使具有有限条件的目标函数最小化的第二钟形速度分布来驱动关节。

7. 发明申请

US20120165979A1 ROBOT AND CONTROL METHOD THEREOF 有权
标题翻译：机器人及其控制方法
公开(公告)号：US20120165979A1
公开(公告)日：2012-06-28
申请号：US13327857
申请日：2011-12-16
申请人： San LIM , Myung Hee Kim , Kyung Shik Roh , Young Bo Shim , Bok Man Lim
发明人： San LIM , Myung Hee Kim , Kyung Shik Roh , Young Bo Shim , Bok Man Lim
IPC分类号： G05B19/04
CPC分类号： B25J9/1669 , B25J9/162 , G05B2219/39113 , G05B2219/40244 , G05B2219/40264 , G05B2219/40395
摘要： A robot and a control method thereof. The control method includes generating and storing plural grasping motions corresponding to data of a target object, selecting a grasping motion corresponding to a grasping purpose of the target object among the plural grasping motions, generating a path of arms corresponding to the selected grasping motion, calculating torques to track the path of the arms, and outputting the torques toward the arms so as to perform movement of the arms and grasping of the target object. The grasping motion path corresponding to the grasping purpose is generated and the path of arms is generated, thereby reducing overall calculation time during grasping of the target object to increase calculating efficiency, minimizing generation of the path of the arms, and allowing an arm path calculating process to be performed at the late stage of a grasping control process to improve grasping performance.
摘要翻译：机器人及其控制方法。控制方法包括生成并存储与目标对象的数据相对应的多个抓取动作，在多个抓取动作中选择与目标对象的抓取目的相对应的抓取动作，生成与所选择的抓握动作对应的臂的路径，计算扭矩以跟踪臂的路径，并且朝向臂输出扭矩，以便执行臂的移动和抓取目标对象。产生对应于抓握目的的抓握运动路径，并且产生臂的路径，从而减少在抓取目标对象期间的总体计算时间，以增加计算效率，最小化臂的路径的产生，并允许臂路径计算在抓握控制过程的后期执行处理以提高抓握性能。

8. 发明申请

US20110106303A1 Robot and control method of optimizing robot motion performance thereof 有权
标题翻译：优化机器人运动性能的机器人和控制方法
公开(公告)号：US20110106303A1
公开(公告)日：2011-05-05
申请号：US12926078
申请日：2010-10-25
申请人： Bok Man Lim , Kyung Shik Roh , San Lim , Myung Hee Kim
发明人： Bok Man Lim , Kyung Shik Roh , San Lim , Myung Hee Kim
IPC分类号： B25J9/00
CPC分类号： B62D57/032
摘要： A robot and a method of controlling the same are disclosed. The robot derives a maximum dynamic performance capability using a specification of an actuator of the robot. The control method includes forming a first bell-shaped velocity profile in response to a start time and an end time of a motion of the robot, calculating a value of an objective function having a limited condition according to the bell-shaped velocity profile, and driving a joint in response to a second bell-shaped velocity profile that minimizes the objective function having the limited condition.
摘要翻译：公开了一种机器人及其控制方法。机器人使用机器人的执行器的规格来获得最大的动态性能。所述控制方法包括响应于所述机器人的运动的开始时间和结束时间来形成第一钟形速度分布，根据钟形速度分布计算具有有限状况的目标函数的值，以及响应于使具有有限条件的目标函数最小化的第二钟形速度分布来驱动关节。

9. 发明申请

US20110040405A1 APPARATUS, METHOD AND COMPUTER-READABLE MEDIUM CONTROLLING WHOLE-BODY OPERATION OF HUMANOID ROBOT 审中-公开
标题翻译：装置，方法和计算机可读介质控制人体机器人的全身操作
公开(公告)号：US20110040405A1
公开(公告)日：2011-02-17
申请号：US12852175
申请日：2010-08-06
申请人： Bok Man LIM , Kyung Shik Roh , San Lim , Myung Hee Kim , Guo Chun Xu
发明人： Bok Man LIM , Kyung Shik Roh , San Lim , Myung Hee Kim , Guo Chun Xu
IPC分类号： B25J9/00
CPC分类号： B25J9/1664 , G05B2219/36587 , G05B2219/40264
摘要： Disclosed are an apparatus, a method and a computer-readable medium controlling whole-body operation of a humanoid robot. The humanoid robot recognizes a motion control code using binary data mapped according to a motion command represented by a language understood by a human to implement a whole-body operation. Since a control mode corresponding to a task space control and a control mode corresponding to a joint space control are used together to describe whole-body motion, the whole-body operation more similar to a human action may be easily implemented.
摘要翻译：公开了一种控制人形机器人的全身操作的装置，方法和计算机可读介质。人形机器人使用根据由人们理解的语言表示的运动命令映射的二进制数据来识别运动控制代码，以实现全身操作。由于对应于任务空间控制的控制模式和对应于关节空间控制的控制模式一起用于描述全身运动，因此可以容易地实现与人体动作更相似的全身操作。

10. 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。

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