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公开(公告)号：KR101867577B1
公开(公告)日：2018-06-15
申请号：KR1020160134812
申请日：2016-10-18
Applicant: 현대자동차주식회사 , 광운대학교 산학협력단
Abstract: 본발명은, 미립자재밍을이용한체형맞춤형시트폼조절장치및 방법에관한것으로서, 특히분리된챔버를이용하여사용자의상황에맞게조절가능한체형맞춤형시트폼조절장치및 방법에관한것이다. 본발명은사용자맞춤형시트조절장치에있어서, 사용자의신체와접촉하도록탄성재질로형성된시트폼; 시트폼의변형과하중을지지하도록미립자로구성된미립자챔버를형성하고시트폼의하중에따라외형이가변하도록시트폼의하부에설치되는챔버외피; 및미립자챔버의내부양측에내부챔버가형성되어내부챔버외부에서가해지는공기압또는유체압의내압을지지하며미립자챔버의압력과다른내압을유지할수 있는챔버내피;를포함하는미립자재밍을이용한체형맞춤형시트폼조절장치및 이를이용한조절방법을제공하는것을특징으로한다. 본발명에따르면, 착용자의체형에맞도록부위에따라압력을달리할수 있고, 분리된챔버와챔버내의미립자의확산과응축을이용하여사용자의착좌감을개선시킬수 있는이점이있다.
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公开(公告)号：KR101481241B1
公开(公告)日：2015-01-12
申请号：KR1020120154117
申请日：2012-12-27
Applicant: 현대자동차주식회사
Abstract: 로봇이 보행상태인지 판단하고 보행방향을 판단하는 판단단계; 로봇의 발바닥의 회전각을 측정하는 측정단계; 상기 측정된 회전각을 이용하여 각속도 또는 각가속도를 산출하는 산출단계; 산출된 각속도 또는 각가속도를 미리 마련된 삼각함수에 대입하여 발 끝단의 가상외력을 도출하는 도출단계; 및 도출된 가상외력을 자코비안 전치행렬에 대입하여 로봇 하지 관절의 구동토크로 환산하는 환산단계;를 포함하는 로봇의 보행제어방법 및 시스템이 소개된다.
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公开(公告)号：KR1020140085702A
公开(公告)日：2014-07-08
申请号：KR1020120154476
申请日：2012-12-27
Applicant: 현대자동차주식회사
CPC classification number: B25J9/1607 , B25J13/081 , B62D57/032 , Y10S901/01
Abstract: Introduced in the present invention are a method and a system for controlling the walking of a robot, the method comprising a determining step which determines whether or not a robot is walking and determines the walking direction; a measuring step which measures the rolling time of the soles of the robot; a drawing step which draws virtual reaction on the soles through a trigonometric function with a cycle of the measured rolling time; and a converting step which converts the drawn virtual reaction into a driving torque of lower limb joints of the robot by substituting the drawn virtual reaction into Jacobian transposed matrix.
Abstract translation: 在本发明中引入了一种用于控制机器人行走的方法和系统，该方法包括一个确定步骤，该步骤确定机器人是否行走并确定行走方向; 测量机器人的鞋底的滚动时间的测量步骤; 绘制步骤，通过三角函数在测量的滚动时间的周期上对鞋底进行虚拟反应; 以及转换步骤，通过将绘制的虚拟反应代入雅可比转置矩阵，将所绘制的虚拟反应转换成机器人的下肢关节的驱动力矩。
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公开(公告)号：KR101360450B1
公开(公告)日：2014-02-12
申请号：KR1020120154475
申请日：2012-12-27
Applicant: 현대자동차주식회사
Abstract: The present invention introduces a robot gripper and a control method thereof. The robot gripper comprises: upper and lower contact parts arranged on the end of both robot arms, coming in contact with the top and bottom surfaces of a weight in gripping, and formed as a spherical shape with the constant radius; sensor parts arranged in the upper and lower contact parts to measure vertical or horizontal pressing force applied to the upper or lower contact part in gripping; and a control part for obtaining the barycentric coordinates of the weight using the vertical and horizontal distance between the end of the both arms when the weight is gripped, the vertical and horizontal pressing force components measured by the sensor parts, and the height of the weight. [Reference numerals] (700) Control part
Abstract translation: 本发明引入机器人夹持器及其控制方法。 机器人夹持器包括：设置在两个机器人臂的端部上的上接触部分和下接触部分，与夹持的重物的顶表面和底表面接触，并形成具有恒定半径的球形; 传感器部件布置在上部和下部接触部分中以测量在夹持中施加到上部或下部接触部分的垂直或水平挤压力; 以及控制部件，用于当抓握重量时，使用两臂的端部之间的垂直和水平距离，由传感器部件测量的垂直和水平按压力分量以及重量的高度来获得重量的重心坐标 。 （附图标记）（700）控制部
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公开(公告)号：KR1020130111664A
公开(公告)日：2013-10-11
申请号：KR1020120033699
申请日：2012-04-02
Applicant: 현대자동차주식회사
Abstract: PURPOSE: A method and a system for removing the disturbance of wearable robots are provided to correctly deliver the movement intention of a wearer to the robot to be strong in outdoor noise and the disturbance and to expect the correct output relative to the input. CONSTITUTION: A method and a system for removing the disturbance of wearable robots comprises the following steps: calculating request torque to be inputted in a robot joint from the difference of a target angular velocity value of the wearable robot and a current angular velocity value; reversely calculating expected input torque from the current angular velocity value, estimating it, and calculating disturbance torque by removing real input torque from the expected input torque; and calculating real input torque by removing the disturbance from the request torque.
Abstract translation: 目的：提供一种去除可穿戴机器人干扰的方法和系统，以正确地将穿着者的运动意图传递给机器人，以使其在室外噪声和干扰方面变得强烈，并且期待相对于输入的正确输出。 构成：用于消除可穿戴机器人的干扰的方法和系统包括以下步骤：从可穿戴机器人的目标角速度值与当前角速度值的差计算输入到机器人接头中的请求扭矩; 从当前角速度值反算计算预期输入转矩，估计它，并通过从预期输入转矩去除实际输入转矩来计算扰动转矩; 并通过从请求扭矩中去除干扰来计算实际输入转矩。
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Patent Agency Ranking
公开(公告)号：KR101305731B1
公开(公告)日：2013-09-06
申请号：KR1020110140779
申请日：2011-12-23
Applicant: 현대자동차주식회사
Abstract: 본 발명은 착용식 로봇이 그리퍼로 들어올리는 중량물의 중량을 알지 못하는 상황에서 상기 그리퍼와 핸들 사이에 설치된 힘센서와 가속도센서를 이용하여, 상기 핸들을 잡고 조작력을 가하는 사용자의 조작력을 간단하고 신속하게 추출해냄으로써, 비교적 저렴한 비용으로 착용식 로봇의 적절한 제어가 이루어질 수 있도록 한다.
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公开(公告)号：KR1020130059617A
公开(公告)日：2013-06-07
申请号：KR1020110125675
申请日：2011-11-29
Applicant: 현대자동차주식회사
CPC classification number: B25J9/162 , B25J9/0006 , B25J9/1633 , B25J19/02
Abstract: PURPOSE: A method and a device for controlling a wearable robot are provided to minimize a resisting reaction force of a human by the robot by varying a target parameter of a virtual admittance model between the human and the robot by a specific regulation. CONSTITUTION: A method and a device for controlling a wearable robot comprise a sensor unit(100), a driver(300), and a main controller(500). The sensor unit measures torque(Th) where a wearer adds to the robot. The driver includes a motor and drives a joint of the robot. The main controller includes a driving unit controller(520) outputting request torque(Ta) input to the driver. The main controller converts output torque(Tm) output from the driver into output angle acceleration. The main controller modifies a damping parameter of a virtual admittance model(540) through the output angle acceleration. The main controller aggregates the output angle acceleration and virtual angle acceleration and inputs to the controller. [Reference numerals] (100) Sensor unit; (300) Driver; (520) Controller; (540) Virtual admittance model; (560) Output admittance model; (AA) Motor coefficient
Abstract translation: 目的：提供一种用于控制可穿戴式机器人的方法和装置，用于通过特定的调节来改变人与机器人之间的虚拟导纳模型的目标参数，以使机器人的抗力反作用力最小化。 构成：用于控制可佩戴机器人的方法和装置包括传感器单元（100），驱动器（300）和主控制器（500）。 传感器单元测量穿戴者向机器人添加的扭矩（Th）。 驾驶员包括一个电动机并驱动机器人的一个关节。 主控制器包括输入到驾驶员的请求扭矩（Ta）的驱动单元控制器（520）。 主控制器将从驱动器输出的输出转矩（Tm）转换为输出角加速度。 主控制器通过输出角加速度修改虚拟导纳模型（540）的阻尼参数。 主控制器将输出角加速度和虚拟角加速度和输入端集中到控制器。 （附图标记）（100）传感器单元; （300）司机; （520）控制器; （540）虚拟导纳模型; （560）输出导纳模型; （AA）电机系数
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公开(公告)号：KR1020130019922A
公开(公告)日：2013-02-27
申请号：KR1020110082231
申请日：2011-08-18
Applicant: 현대자동차주식회사
CPC classification number: B25J9/1607 , B25J9/0006 , B25J9/042 , B25J9/1612 , B25J9/1638
Abstract: PURPOSE: A wearing robot control method is provided to operate a training program for intensifying muscular strength, provide a program for intensifying muscular strength suitable for a rehabilitation program to people requiring rehabilitation, and operate a system for preventing the weakening of muscular strength according to aging. CONSTITUTION: A wearing robot control method applies a virtual spring-damper model to the end of a wearing robot. An end part distributes final force necessary for a robot motion to the necessary torque of each joint through a Jacobian transpose and be able to control the required resistance of a robot by distributing to a necessary torque by adding resistance force to final force. The drooping amount of a robot by gravity is added to a distributed necessary torque. A resistance force is implemented as a spring model and changes resistance required for a robot through the control of an elasticity coefficient. A necessary torque is produced by applying a virtual spring-damper model to each joint of a wearing robot. A wearing robot control method includes a modeling step applying a virtual spring-damper model to the end of a wearing robot, a step distributing a final force necessary for the motion of a robot to the necessary torque of each joint through a Jacobian transpose at the end of a wearing robot, and a control step controlling the resistance of a robot required by distributing resistance force required for the end of a robot to a torque necessary for each joint through a Jacobian transpose.
Abstract translation: 目的：提供一种佩戴机器人控制方法，以运行强化肌肉力量的训练计划，为需要康复的人提供适合康复计划的肌肉力量程序，并运行防止肌肉强度因老化而减弱的系统 。 构成：磨损机器人控制方法将虚拟弹簧阻尼器模型应用于佩戴机器人的末端。 端部通过雅可比转置将机器人运动所需的最终力分配给每个关节的必要扭矩，并且能够通过向最终力增加阻力来控制机器人所需的阻力。 通过重力将机器人的下垂量加到分配的必需扭矩上。 作为弹簧模型实现阻力，通过控制弹性系数来改变机器人所需的电阻。 通过将虚拟弹簧阻尼器模型应用于穿着机器人的每个接头来产生必要的扭矩。 磨损机器人控制方法包括将虚拟弹簧阻尼器模型应用于佩戴机器人的末端的建模步骤，通过雅各布转置在机器人运动所需的最终力到每个关节的必要扭矩的步骤 磨损机器人的末端，以及控制步骤，通过将雅可比转置为每个关节所需的扭矩，将机器人结束所需的阻力分配到机器人的阻力上。
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公开(公告)号：KR1020130019921A
公开(公告)日：2013-02-27
申请号：KR1020110082230
申请日：2011-08-18
Applicant: 현대자동차주식회사
CPC classification number: B25J9/162 , B25J9/1607 , B25J9/1638 , B25J9/1641 , B25J19/02
Abstract: PURPOSE: A dynamic progression control method for a robot and a system thereof are provided to simplify control by only using gyrosensor information and to enable the robot to walk stably even in an environment arbitrarily changed from outside. CONSTITUTION: A dynamic progression control method for a robot obtains a moment generated according to the stability of the walking of a robot based on the x-axis and y-axis of a gyrosensor, and comprises a measurement step changing the moment into a required additional balancing power in the z direction for a balancing maintenance, a compensation step compensating a balancing power for a driving power required in walking in a normal environment, and an application step changing a compensated driving power into a final torque required in each joint of the robot. The measurement step computes the moment of x-axis and y-axis through an angle variation and an angular speed variation which are measured based on the x-axis and y-axis of the gyrosensor and draws a balancing power through a distance in which the feet of the gyrosensor and the robot are separated based on x-axis and y-axis. The application step changes a compensated driving power into a final torque necessary for each joint of the robot by using a Jacobian transpose method. The application step changes a power into a final torque necessary for each joint of the robot through a virtual force model using a spring-damper.
Abstract translation: 目的：提供一种用于机器人及其系统的动态进程控制方法，以通过仅使用陀螺传感器信息来简化控制，并且即使在从外部任意改变的环境中也能够使机器人稳定地行走。 构成：用于机器人的动态进程控制方法根据陀螺传感器的x轴和y轴根据机器人的行走的稳定性产生的力矩，并且包括将力矩改变为所需的附加值的测量步骤 在z方向上平衡功率以进行平衡维护，补偿步骤，补偿在正常环境中行走所需的驱动力的平衡功率，以及将补偿的驱动功率改变为机器人的每个关节中所需的最终转矩的应用步骤 。 测量步骤通过基于陀螺传感器的x轴和y轴测量的角度变化和角速度变化来计算x轴和y轴的力矩，并通过其中的 陀螺传感器和机器人的脚根据x轴和y轴分离。 应用步骤通过使用雅可比转置方法将补偿的驱动功率改变为机器人的每个接头所需的最终转矩。 应用步骤通过使用弹簧阻尼器的虚拟力模型将功率改变为机器人的每个关节所需的最终扭矩。
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公开(公告)号：KR101897287B1
公开(公告)日：2018-09-11
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: 가상의질량-스프링-댐퍼모델로표현되는플랫폼모델과서스펜션모델을구비하고각 모델에출력을피드백하는제1신경진동자모델과제2신경진동자모델을연결함으로써, 타이어에입력되는변위로부터플랫폼모델과서스펜션모델의변위를구하고플랫폼모델과서스펜션모델의변위로부터제1신경진동자모델과제2신경진동자모델의피드백을구하며제2신경진동자모델의피드백으로부터차량의서스펜션에서필요한가압력을구하는차량용서스펜션제어방법이소개된다.
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