Korea Institute of Science and Technology

Center of Human-centered Interaction for Coexistence

Do Ik Kim

Bum Jae You

Yong Hwan Oh

Chang Hwan Kim

Jung Min Park

Young Jin Choi

Seok Min Hong

Young Hwan Chang

Joong-Jae Lee

Jung San Cho

An apparatus for creating virtual joint sensation is provided. The apparatus includes: a controlling part for creating control signals for controlling respective user's joints by referring to information on torques to be applied to the respective user's joints, wherein the information on the torques is acquired by analyzing information on forces to be applied to the user's body contacting a virtual object; and a torque-applying part, including one or more torque-applying units worn on the respective user's joints, for giving the torques to the respective user's joints by using the control signals.

Method and apparatus for creating virtual joint sensation

The invention relates to a method for controlling walking of humanoid bipedal walking robot. More specifically, the invention comprises steps of designing a zero momentum position (ZMP) of a robot for the ground surface (a); calculating trajectories of a center of gravity (COG) of the robot along with the trajectory of the ZMP (b); calculating an angular velocity of driving motors of two feet, which has the robot walk according to the trajectory of the ZMP (c); and controlling walking of the robot by driving the driving motors according to the angular velocity of the driving motors calculated above. The robot walking control method according to the invention has stability against disturbances.

Method for controlling the walk of humanoid robot

The present invention may provide a method of generating a walking pattern for a humanoid robot. The method of generating the walking pattern for the humanoid includes determining a position of a next Zero Moment Point (ZMP) along a moving direction of the humanoid robot, obtaining a first condition for generating a walking pattern based on the determined ZMP by using a periodic step module, generating trajectories of a ZMP and a Center of Mass (CoM) in an initial step based on the first condition and an initial value obtained from an initial state of the humanoid robot by using a transient step module, generating trajectories of a ZMP and a CoM in a steady step based on the ZMP of two steps by using a steady step module, and generating trajectories of a ZMP and a CoM in a final step by using the transient step module.

Method of generating a walking pattern for a humanoid robot

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Seoul, South Korea

Do Ik Kim