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公开(公告)号：KR101371756B1
公开(公告)日：2014-03-12
申请号：KR1020120147880
申请日：2012-12-17
Applicant: 현대자동차주식회사
CPC classification number: B62D57/032 , B25J13/08 , Y10S901/01
Abstract: The present invention relates to a walking control method of a robot using a foot sensor of a robot, and comprises: a determination step to determine that a robot is walking; a distinguishing step of distinguishing whether a robot is walking on one foot or both feet using a foot sensor when a robot is walking; a both feet support step performing posture maintaining control when a robot is walking on both feet; a support step operating a support control according to gravity compensation and weight compensation on a support bridge when a robot is walking on one foot; and a swing step generating virtual reaction for swing on a swing bridge when a robot is walking on one foot. [Reference numerals] (AA) Start; (BB) Measure an initial pose wearing a robot; (CC) Calculate additional heavy gravity; (DD) Transform robot pose after measuring a height(foot-back); (EE) Gravity + Heavy compensation algorithm; (FF) Walking speed discrimination algorithm; (GG) Virtual reaction generation algorithm; (HH) Walking control algorithm; (II) End; (S200) Walking state?; (S300) Foot sensor(Tape S/W); (S400) One leg support?; (S500) Support legs; (S600) Swing legs; (S700) Pose maintenance control
Abstract translation: 本发明涉及一种使用机器人的脚传感器的机器人的行走控制方法，包括：确定步骤，确定机器人正在行走; 当机器人行走时，使用脚传感器区分机器人在一只脚或两只脚上行走的区别步骤; 双脚支撑步骤，当机器人在双脚上行走时执行姿态维持控制; 当机器人在一只脚上行走时，在支撑桥上根据重力补偿和重量补偿来操作支撑控制的支撑步骤; 以及当机器人在一只脚上行走时，在摆动桥上产生用于摆动的虚拟反作用的摆动步骤。 （附图标记）（AA）开始; （BB）测量佩戴机器人的初始姿势; （CC）计算额外的重力; （DD）测量高度（脚后）后的机器人姿态变换; （EE）重力+重补偿算法; （FF）行走速度辨别算法; （GG）虚拟反应生成算法; （HH）步行控制算法; （二）结束; （S200）行走状态 （S300）脚传感器（Tape S / W）; （S400）一条腿支撑？ （S500）支腿; （S600）摆动腿; （S700）姿态维护控制
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公开(公告)号：KR1020130073104A
公开(公告)日：2013-07-03
申请号：KR1020110140779
申请日：2011-12-23
Applicant: 현대자동차주식회사
Abstract: PURPOSE: A method for extracting an operating force of a wearable robot is provided to rapidly extract the operating force of a user adding the operating force by holding a steering wheel using a power sensor and an accelerating sensor installed between a gripper and a steering wheel. CONSTITUTION: A method for extracting an operating force of a wearable robot comprises the steps of: calculating the mass of a load using the sensing power and the measured acceleration when the load moves (S20); multiplying the mass of the load by the acceleration from an accelerating sensor and outputting an external force added to a gripper by the load (S30); and subtracting the external force from the sensing power and outputting an operating force of a user (S40). [Reference numerals] (AA) Start; (BB) Complete to install a power sensor and an accelerating sensor & gripper load holding state; (CC) Apprvoe an operating force of a user; (DD) Drive a robot to measure sensing power of the power sensor : robot driving force = sensing power × amplification rate; (EE) Amplification rate increase; (FF) Load move?; (GG) Calculate torque (τ-h=J^Tf_h,τ_e=J^Tf_e); (S20) Calculate the mass of the load[ (sensing power / acceleration) - gripper mass]; (S30) Calculate an external force by the load (fe) (mass of the load × acceleration); (S40) Calculate the operating force (fn) of the user (sensing power - the external force by the load)
Abstract translation: 目的：提供一种用于提取可穿戴机器人的操作力的方法，以通过使用安装在夹持器和方向盘之间的功率传感器和加速传感器来保持方向盘来快速提取添加操作力的用户的操作力。 构成：用于提取可穿戴机器人的操作力的方法包括以下步骤：使用感测功率计算负载的质量和当负载移动时测量的加速度（S20）; 将负载的质量乘以加速度传感器的加速度，并通过负载输出添加到夹持器的外力（S30）; 以及从感测功率减去外力并输出用户的操作力（S40）。 （附图标记）（AA）开始; （BB）完成安装功率传感器和加速传感器和夹持器负载保持状态; （CC）允许用户的操作力; （DD）驱动机器人测量功率传感器的感应功率：机器人驱动力=感应功率×放大率; （EE）放大率增加; （FF）负载移动 （GG）计算扭矩（τ-h = J ^ Tf_h，τ_e= J ^ Tf_e）; （S20）计算负载质量[（感应功率/加速度） - 夹具质量]; （S30）通过负载（fe）（负载质量×加速度）计算外力; （S40）计算用户的操作力（fn）（感应功率 - 负载的外力）
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公开(公告)号：KR1020130054821A
公开(公告)日：2013-05-27
申请号：KR1020110120436
申请日：2011-11-17
Applicant: 현대자동차주식회사
CPC classification number: B25J19/0008 , B25J9/0009 , B25J9/1602 , B25J19/02
Abstract: PURPOSE: A leg stopper for a robot and a controlling method for the same are provided to stably position a robot by extending a stopper for supporting the robot and to restore to a normal operation. CONSTITUTION: A leg stopper for a robot comprises a stopper device(500), a sensor unit(300), and a control unit. The stopper device is drew from or inserted into a robot foot(F) through a plurality of directions. The sensor unit comprises a plurality of FSR(Force Sensing Resistor)s installed on a robot sole for measuring the load distribution of an area where the robot foot touches the ground. The control unit controls the stopper device by comparing a stable area where the robot foot touches the ground and the position of a ZMP(Zero Moment Point).
Abstract translation: 目的：提供一种用于机器人的腿部止动器及其控制方法，用于通过延伸用于支撑机器人的止动件并恢复正常操作来稳定地定位机器人。 构成：用于机器人的止动器包括止动装置（500），传感器单元（300）和控制单元。 止动器装置通过多个方向从或从其插入到机器人脚（F）中。 传感器单元包括安装在机器人鞋底上的多个FSR（力感测电阻器），用于测量机器人脚接触地面的区域的负载分布。 控制单元通过比较机器人脚接触地面的稳定区域和ZMP（零点点）的位置来控制止动装置。
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公开(公告)号：KR1020130017284A
公开(公告)日：2013-02-20
申请号：KR1020110079630
申请日：2011-08-10
Applicant: 현대자동차주식회사
IPC: A63B24/00 , A63B21/005
CPC classification number: A63B24/0087 , A63B21/005 , A63B2220/51 , A63B2220/833
Abstract: PURPOSE: An exercise method for strengthening muscle and a system therefor are provided to operate an exercise device in real time. CONSTITUTION: An exercise system for strengthening muscle comprises a drive unit(100) which drives a manipulation unit(400) as a user exercises, a sensing unit(200) which senses power applied to the manipulation unit as the user exercises, and a control unit(300) which drives the manipulation unit, sets a reversing value standard per each exercise section, and synchronizes the operation of the drive unit and power information. [Reference numerals] (100) Drive unit; (200) Sensing unit
Abstract translation: 目的：提供一种用于加强肌肉及其系统的运动方法，以实时操作锻炼装置。 构成：用于加强肌肉的锻炼系统包括：用户锻炼时驱动操作单元（400）的驱动单元（100）;感测单元（200），其在用户锻炼时感测施加到操作单元的动力;以及控制 驱动操作单元的单元（300）为每个运动部设定反转值标准，并且使驱动单元的动作和功率信息同步。 （附图标记）（100）驱动单元; （200）感应单元
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公开(公告)号：KR101806557B1
公开(公告)日：2017-12-08
申请号：KR1020110079630
申请日：2011-08-10
Applicant: 현대자동차주식회사
IPC: A63B24/00 , A63B21/005
Abstract: 필요한운동의경로로운동시스템의구동부를작동하여사용자에게운동방법을교시하는교시단계; 및상기운동경로를복수의구간으로나누어각 구간마다역치기준을설정하고,사용자의힘정보를실시간으로피드백하여그 힘정보와구동부의동작이동기화되도록하되, 사용자의힘정보가해당구간에서역치기준이상일경우와미만일경우를나누어구동부의동작에필요한사용자힘정보의반영비율을변화시키는운동단계;를포함하는근력강화운동방법이소개된다.
Abstract translation: 教导步骤：操作锻炼系统的驾驶部分以教导用户具有必要锻炼路径的锻炼方法; 并且通过将运动路径划分为多个部分并实时反馈用户的力信息来设置每个部分的阈值，使得力信息和驱动部分的操作同步。 并且当重量大于或小于预定值时，通过划分用户的重量来改变驱动单元操作所需的用户力信息的比率。
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Patent Agency Ranking
公开(公告)号：KR101438971B1
公开(公告)日：2014-09-15
申请号：KR1020120154474
申请日：2012-12-27
Applicant: 현대자동차주식회사
CPC classification number: B25J9/1674 , B25J13/082 , B25J15/0033 , B25J15/0052 , Y10S901/31 , Y10S901/46
Abstract: 로봇 양팔의 단부에 각각 마련되고 파지시 중량물의 상면과 하면에 각각 접촉되며 일정 반지름을 갖는 구면으로 형성된 상부접촉부 및 하부접촉부; 상기 상부접촉부와 하부접촉부 각각에 마련되어 중량물의 파지시 상부접촉부 또는 하부접촉부로 가해지는 수직방향 또는 수평방향의 가압력을 측정하는 센서부; 및 중량물의 파지시 양팔 단부의 수직방향 및 수평방향 이격거리와 각각의 센서부에서 측정된 수직방향의 가압력 성분들을 이용하여 중량물의 무게중심이 양팔 단부의 사이 중앙에 위치하는지 판단하는 제어부;를 포함하는 로봇그리퍼 및 그 제어방법이 소개된다.
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公开(公告)号：KR1020140084717A
公开(公告)日：2014-07-07
申请号：KR1020120154472
申请日：2012-12-27
Applicant: 현대자동차주식회사
CPC classification number: B62D57/032 , B25J9/00 , B25J9/003 , F16H1/04
Abstract: Introduced in the present invention is a variable supporting apparatus for a robot foot, which comprises: a guide groove formed in a foot module of a robot whose end unit is open; a supporting board placed inside the guide groove, and slides to the outside of the guide groove in order to protrude; a power converting unit whose one end unit is connected with the supporting board; and a power generating member connected with the other end unit of the power converting unit whose part of the bottom unit is placed at a height lower than the ground in order to generate a driving force to as much as the moving distance of the foot module from a point where the end of the bottom is supported by the ground to the point where the foot module lands on the ground when the foot module of the robot lands on the ground. Therefore, the variable supporting apparatus for the robot foot allows the supporting board to slide by converting the driving force generated by the power generating member into a rotational motion and a linear motion through the power converting unit in order to be transmitted to the supporting board.
Abstract translation: 在本发明中引入的是用于机器人脚的可变支撑装置，其包括：形成在其单元打开的机器人的脚模块中的引导槽; 支撑板放置在引导槽的内部，并且滑动到引导槽的外部以便突出; 电源转换单元，其一端单元与支撑板连接; 以及发电部件，其与所述功率转换单元的另一端单元连接，其底部单元的一部分被放置在比地面低的高度处，以便产生与所述脚模块的移动距离相同的驱动力 当机器人的脚部模块落在地面上时，底部的端部被地面支撑到脚模块落在地面上的点。 因此，用于机器人脚的可变支持装置允许支撑板通过将由发电部件产生的驱动力转换成通过电力转换单元的旋转运动和线性运动而滑动，以便被传送到支撑板。
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公开(公告)号：KR1020140084545A
公开(公告)日：2014-07-07
申请号：KR1020120154116
申请日：2012-12-27
Applicant: 현대자동차주식회사
Abstract: Introduced in the present invention is a method for controlling a manipulator using brain wave measurement, which comprises as follows: a preparation step which prepares multiple classes composed of a representative wave form of brain waves related to a behavior pattern; a classification step which determines what class the brain wave measured at a cycle of a first time belongs to; a check step which has a cycle of a second time longer than the first time, and checks how many times a certain class is sensed for the second time; a determination step which determines concentration by class through a ratio of the check number to a sampling number for the second time; and a control step which controls driving power related to the behavior pattern corresponding to the concentration by class.
Abstract translation: 在本发明中引入的是使用脑波测量来控制机械手的方法，其包括如下：准备由与行为模式相关的代表性波形形成的多个级别的准备步骤; 确定在第一次循环中测量的脑波的等级属于什么类别的分级步骤; 检查步骤，其具有比第一次更长的第二时间的周期，并且检查第二次感测到某个等级的次数; 确定步骤，通过所述检查号与所述第二次采样次数的比率来确定所述类别的浓度; 以及控制步骤，其控制与根据类别的浓度相对应的行为模式相关的驱动力。
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公开(公告)号：KR101338082B1
公开(公告)日：2013-12-09
申请号：KR1020120033699
申请日：2012-04-02
Applicant: 현대자동차주식회사
Abstract: 착용식 로봇관절의 목표 각속도관련값과 현재 각속도관련값의 차이로부터 로봇관절에 입력될 요구토크를 산출하는 요구산출단계; 상기 현재 각속도관련값으로부터 예상 입력토크를 역으로 계산하여 추정하고, 예상 입력토크에서 실제 입력토크를 제거하여 외란토크를 산출하는 외란산출단계; 및 상기 요구토크에서 외란토크를 제거하여 실제 입력토크를 산출하는 실제산출단계;를 포함하는 착용식 로봇의 외란제거방법 및 이를 위한 외란제거시스템이 소개된다.
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公开(公告)号：KR1020130111663A
公开(公告)日：2013-10-11
申请号：KR1020120033698
申请日：2012-04-02
Applicant: 현대자동차주식회사
Inventor： 양우성
IPC: B60G17/033 , B60G17/04 , G01M17/04
CPC classification number: B60G17/016 , B60G17/0165 , B60G2500/10 , B60G2500/20
Abstract: PURPOSE: A control method for a suspension of a vehicle is provided to reduce the vibration of the vehicle in a predetermined amplitude range although the state of a road is changed. CONSTITUTION: A control method for a suspension of a vehicle comprises as follows. The displacement of a platform model (100) and a suspension model (200) is calculated based on the displacement input into a tire by a platform model and a suspension model expressed as a virtual mass-spring-damper model. The displacement of the platform model is input into a first neural oscillator model (300) feeding the output back to the platform model. The displacement of the suspension model and the feedback of the first neural oscillator model are input into a second neural oscillator model (400) feeding the output back to the suspension model. A virtual pressure which is necessary for the suspension of the vehicle is calculated based on the feedback. The feedback of the second neural oscillator model is input into the first neural oscillator model with the displacement of the platform model.
Abstract translation: 目的：提供一种用于车辆的悬架的控制方法，以尽可能改变道路的状态来减小车辆在预定幅度范围内的振动。 构成：车辆的悬架控制方法如下。 基于由平台模型和表示为虚拟质量弹簧阻尼器模型的悬架模型，基于输入到轮胎中的位移来计算平台模型（100）和悬架模型（200）的位移。 将平台模型的位移输入到将输出返回到平台模型的第一神经振荡器模型（300）中。 将悬架模型的位移和第一神经振荡器模型的反馈输入到输出回到悬架模型的第二神经振荡器模型（400）中。 基于反馈计算车辆悬架所需的虚拟压力。 将第二神经振荡器模型的反馈输入到具有平台模型位移的第一神经振荡器模型中。
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