Korea Institute of Science and Technology

Doik Kim

Youngsu Cha

Jung Hee Kim

Seokmin Hong

Jung Min Park

Donghyun Hwang

Bum-Jae You

Jaeyoung Park

Junsik Kim

Yonghwan Oh

Youngjin Choi

Yong Hwan Oh

Bumjae You

Sungon Lee

Junku Yuh

Young-Hwan Chang

Provided is a node location tracking method, including an initial localization step of estimating initial locations of a robot and neighboring nodes using inter-node measurement and a Sum of Gaussian (SoG) filter, wherein the initial localization step includes an iterative multilateration step of initializing the locations of the nodes; and a SoG filter generation step of generating the SoG filter.

Node location tracking method

The present disclosure provides an RSS (Received Signal Strength) signal correction method for performing location measurement by utilizing information among a plurality of nodes, and the RSS signal correction method estimates a variable of an RSS signal model based on at least one of location information of a fixed node, location information of an unknown node and measurement noise information of the unknown node.

RSS signal correction method

Disclosed is a shielding device, which includes: a casing having an open portion; a deformable unit installed at the casing and configured to be deformed in one direction at a predetermined temperature; a power transmission unit connected to the deformable unit to transmit a power generated by the deformation of the deformable unit; and a shielding unit installed at the casing and connected to the power transmission unit to receive the power from the power transmission unit, the shielding unit being configured to open or close the open portion, wherein the deformable unit is deformed at a first temperature to be expanded or compressed, and the shielding unit closes the open portion by means of the deformation of the deformable unit.

Shielding device

Disclosed is a measuring device for ambulation data including a bending sensor installed in a bottom of a shoe to sense a bending signal transmitted by bending of the bottom of the shoe and generate a voltage signal while a user is walking, a control unit electrically connected to the bending sensor to derive an ambulation parameter by processing the outputted voltage signal, and a terminal to output the ambulation parameter transmitted from the control unit, wherein the bending sensor is placed between a part that touches a forefoot and a part that touches a heel in the bottom of the shoe.

Measuring device for ambulation data

A robot motion data processing system has a data extraction module for intermittently extracting restoration motion data from a successive input motion trajectory formed for controlling a motion of a robot, and a data restoration module for restoring an output motion trajectory approximate to the input motion trajectory by using restoration motion data extracted from the data extraction module. The output motion trajectory is restored to satisfy a condition that the robot operating according to the output motion trajectory does not exceed a hardware operation limit of the robot.

Robot motion data processing system using motion data reduction/restoration compatible to hardware limits

Apparatus and a method for balancing and damping control in whole body coordination framework for a biped humanoid robot. The method comprises the steps of: (a) damping the structural vibration of the main body of the robot caused when the robot walks; (b) compensating for the trajectories of the zero moment position (ZMP) and the center of mass (COM) of the robot which changes in accordance with the damping of the structural vibration; and (c) compensating for the body orientation of the robot which changes in accordance with the damping of the structural vibration and the trajectory of the COM.

Apparatus and method for balancing and damping control in whole body coordination framework for biped humanoid robot

A walking pattern generation system generates a walking pattern of a biped walking robot. The walking pattern generation system includes a pole-zero controller for converting a target pattern data input to the system into a reference pattern data through a first transfer function, and a walking pattern generation unit for converting the reference pattern data into a walking pattern data through a second transfer function and outputting the converted walking pattern data, wherein the second transfer function has an unstable zero, and wherein the first transfer function includes a transfer function approximated to an inverse of the unstable zero of the second transfer function.

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Seoul, South Korea

Doik Kim