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公开(公告)号：KR101107222B1
公开(公告)日：2012-01-25
申请号：KR1020090092999
申请日：2009-09-30
Applicant: 한국과학기술연구원
Abstract: 본 발명은 본체와, 일단이 상기 본체에 회전 가능하게 장착되며 타단이 회전 가능한 휠에 연결된 복수의 암들과, 상기 본체에 장착되며 상기 각각의 암들에 토크를 인가하는 액츄에이터들과, 상기 본체의 주행 중 상기 본체에 대한 상기 암들의 각도를 센싱하는 각도센서, 및 상기 암들이 가상 스프링과 같은 형태로 구현되도록 상기 각도센서로부터 검출된 각도들을 근거로 상기 액츄에이터들의 토크를 제어하는 컨트롤러를 포함하는 이동 로봇 및 그 제어방법을 개시한다.
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Patent Agency Ranking
公开(公告)号：KR1020110035334A
公开(公告)日：2011-04-06
申请号：KR1020090092999
申请日：2009-09-30
Applicant: 한국과학기술연구원
Abstract: PURPOSE: A mobile robot and control method thereof are provided to improve the movement performance of the mobile robot by dispersing the contact force between the ground and robot wheel. CONSTITUTION: A mobile robot comprises a main body(110), a plurality of arms(120), an actuator, an angle sensor, and a controller. One end of the arm is mounted on the main body to rotate, and the other end of the arm is connected to a wheel(130). The actuators apply torque to each arm. The angle sensor senses the angle of the arms about the main body in the driving of the main body. The controller controls the torque of the actuator based on the angles which are detected by thee angle sensor in order to make the arms to actuate like a virtual spring.
Abstract translation: 目的：提供一种移动机器人及其控制方法，通过分散地面和机器人轮之间的接触力来提高移动机器人的运动性能。 构成：移动机器人包括主体（110），多个臂（120），致动器，角度传感器和控制器。 臂的一端安装在主体上以旋转，并且臂的另一端连接到轮（130）。 执行器对每个臂施加扭矩。 角度传感器在主体的驱动中感测臂周围主体的角度。 控制器基于由角度传感器检测的角度来控制致动器的扭矩，以使臂像虚拟弹簧一样致动。
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公开(公告)号：KR101132713B1
公开(公告)日：2012-04-06
申请号：KR1020090092890
申请日：2009-09-30
Applicant: 한국과학기술연구원
Abstract: PURPOSE: A movement control device and method of mobile robot and a mobile robot system having the same are provided to calculate the location information of a mobile robot by using geometric information which is made by mobile robots and a reference spot. CONSTITUTION: A movement control method of mobile robot is as follows. Geographic information is detected by a sensor(121) of a first mobile robot(111). The reference spot is extracted from the geographic information to calculate the first location information between the first mobile robot and reference spot. The second location information between a second mobile robot(112) and the reference spot is calculated by using the geographic information detected by a sensor(122) of the second mobile robot. The relative location information between the first and second mobile robots is detected by using the first and second location information. The second mobile robot is moved by using at least one of first and second location information and relative location information in order to keep mobile robots in a pre-set formation.
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公开(公告)号：KR101036570B1
公开(公告)日：2011-05-24
申请号：KR1020080094963
申请日：2008-09-26
Applicant: 한국과학기술연구원
Abstract: 본 발명은 바퀴기반 다수로봇의 대형 유지 및 제어 방법에 관한 것이다. 이 발명은 실외에서 다양한 임무를 수행하는 다수로봇의 동적 특성(속도, 가속도)을 산출하는 단계와; 상호 연결된 네트워크를 통하여 상기 얻어진 동적 특성을 이용한 로봇의 각 개체별 이동 속도와 가속도를 결정하는 방법을 제공한다.
다수로봇, 대형 생성, 대형 유지-
公开(公告)号：KR1020110035258A
公开(公告)日：2011-04-06
申请号：KR1020090092890
申请日：2009-09-30
Applicant: 한국과학기술연구원
Abstract: PURPOSE: A movement control device and method of mobile robot and a mobile robot system having the same are provided to calculate the location information of a mobile robot by using geometric information which is made by mobile robots and a reference spot. CONSTITUTION: A movement control method of mobile robot is as follows. Geographic information is detected by a sensor(121) of a first mobile robot(111). The reference spot is extracted from the geographic information to calculate the first location information between the first mobile robot and reference spot. The second location information between a second mobile robot(112) and the reference spot is calculated by using the geographic information detected by a sensor(122) of the second mobile robot. The relative location information between the first and second mobile robots is detected by using the first and second location information. The second mobile robot is moved by using at least one of first and second location information and relative location information in order to keep mobile robots in a pre-set formation.
Abstract translation: 目的：提供一种移动机器人的移动控制装置和方法及具有该移动机器人的移动机器人系统，通过使用由移动机器人和参考点形成的几何信息来计算移动机器人的位置信息。 构成：移动机器人的移动控制方法如下。 地理信息由第一移动机器人（111）的传感器（121）检测。 从地理信息中提取参考点，以计算第一移动机器人和参考点之间的第一位置信息。 通过使用由第二移动机器人的传感器（122）检测到的地理信息来计算第二移动机器人（112）和参考点之间的第二位置信息。 通过使用第一和第二位置信息来检测第一和第二移动机器人之间的相对位置信息。 通过使用第一和第二位置信息和相对位置信息中的至少一个来移动第二移动机器人，以便将移动机器人保持在预先设定的形成中。
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公开(公告)号：KR1020100035531A
公开(公告)日：2010-04-05
申请号：KR1020080094963
申请日：2008-09-26
Applicant: 한국과학기술연구원
Abstract: PURPOSE: A method for controlling and maintaining the formation of multiple robots in consideration of the conveying speed and direction of the robots is provided to maintain the formation of multiple robots by controlling one robot. CONSTITUTION: A method for controlling and maintaining the formation of multiple robots is as follows. A target point for forming formation of robots is determined. The relational expression of the target point is calculated in consideration of the other robots and obstacles. The relational expression is composed of repulsive force and attractive force. A specific robot is controlled based on the relational expression.
Abstract translation: 目的：提供一种考虑到机器人的输送速度和方向来控制和维持多机器人的形成的方法，以通过控制一个机器人来维持多个机器人的形成。 构成：用于控制和维持多个机器人的形成的方法如下。 确定形成机器人的目标点。 考虑到其他机器人和障碍物来计算目标点的关系表达式。 关系表达式由排斥力和吸引力组成。 基于关系表达式控制特定机器人。
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