Korea Institute of Science and Technology

Sungkyunkwan University

University of Minnesota

Perceptron, Inc.

Munsang Kim

Jae Wook Jeon

Jong Eun Byun

Seung Hun Jin

Sung Kee Park

Kyoung Mu Lee

Jung Uk Cho

Euisik Yoon

Junho Choi

Sung Chul Kang

Chang-hyun Cho

Dongseok Ryu

Dale R Greer

Jongsuk Choi

Seung Jong Kim

Jeonghoon Yoo

Youngin Park

Sun-Il Chang

Changhyun Cho

Sangmoon Lee

Seung Kook Yun

Sungchul Kang

Hyung-Kyu Lee

Changsoon Hwang

A harmonic drive according to the present invention comprises a plurality of internal gears; a band type of flexible gear provided with teeth engaged with each of the internal gears on its outer circumferential surface, the flexible gear having a pitch circumference length shorter than that of said internal gears; and a wave generating part disposed on an inner side of said flexible gear, the wave generating part generating a plurality of harmonic motions by deforming said flexible gear as the wave generating part rotates. Further, said flexible gear is formed integrally to engage with said plurality of internal gears so that the plurality of harmonic motions are overlapped, and one or more of said plurality of internal gears and said flexible gear are formed of profile shifted gears.

Harmonic drive using profile shifted gear

Disclosed herein is a signal processing apparatus and method for removing a reflected wave generated by a robot platform. The signal processing apparatus includes a transfer function measuring unit for measuring an inter-channel transfer function (IcTF) from signals of a plurality of channels; an impulse response obtaining unit for obtaining an inter-channel impulse response (IcIR) from the IcTF measured by the transfer function measuring unit; and reflected wave removing unit for removing the reflected wave by differentiating a direct wave directly generated by a sound source and the reflected wave with a time delay from the IcIR obtained by the impulse response obtaining unit. The signal processing method of removing a reflected wave includes measuring an IcTF from signals of a plurality of channels; obtaining an IcIR from the measured IcTF; and removing the reflected wave by differentiating a direct wave directly generated by a sound source and a the reflected wave with a time delay from the obtained IcIR.

Signal processing apparatus and method for removing reflected wave generated by robot platform

Disclosed are a system and a method extensible for performing, in real-time, stereo snatching for calculating depth images with a result of searching for points of similarity by using images taken with two cameras. The system includes a coordinate creating module, a census transform module, a delay XOR calculation module, a stereo matching module, and a control module. Accordingly, by using the system extensible for performing stereo matching, depth information of corrected images can be acquired in real-time without using computer systems or software programs for special purposes. Furthermore, since the system extensible for performing stereo matching can be simply realized by hardware, the system and the method of the present invention can be easily applied to actual intellectual-type robots, industrial settings, etc.

Extensible system and method for stereo matching in real-time

A device for generating and varying stiffness, which may be applied to a joint of a robot manipulator, the stiffness generating device having a rotating shaft connected to a driven member; a rotor fixed to the rotating shaft and having arms comprising a magnetic element; a stator disposed to surround the rotor outside the arms and being connected to a drive motor; electromagnets fixed to an inner periphery of the stator and being opposed to each other about the rotating shaft, each having a core and a coil wound around the core; and means for applying current to the coils. One half of the electromagnets has N-poles at their inward ends and the other half of the electromagnets has S-poles at their inward ends. Current regulating means regulates the current being applied to the coils.

Device for generating stiffness and joint of robot manipulator comprising the same

A capacitive sensor includes an upper electrode layer having a plurality of electrodes disposed in line with each other, a lower electrode layer having a plurality of electrodes disposed in line with each other, an insulating layer disposed between the upper electrode layer and the lower electrode layer, and a layer of bumps made of insulating material formed above the area where the electrodes of the upper electrode layer and the electrodes of the lower electrode later are crossed. The sensor detects the proximity of approaching objects by the capacitance change between the electrodes disposed in the upper electrode layer, and detects the contact of any objects by the capacitance change between the electrodes of the upper electrode layer and the electrodes of the lower electrode layer.

Capacitive sensor for sensing tactile and proximity, and a sensing system using the same

Disclosed is a system and a method for rectifying stereo images, which are acquired by two cameras, in real-time by using a calibration matrix resulting from camera calibration. The system includes a coordinate generation module; a rectification coordinate generation module; a bilinear interpolation value generation module; a rectification coordinate memory; a bilinear interpolation memory; an image buffer; an rectification module; and a control module. A structure of a hardware system capable of real-time stereo rectification is provided, and the operation results have been verified by implementing a hardware device. The real-time stereo rectification system makes it possible to acquire rectified images in real-time without using a separate computer system or a software program.

Rectification system and method of stereo image in real-time

The present invention relates to a haptic joystick system that is used with a computer system. The system according to the present invention includes the mechanism comprising the first link work and the second link work that respectively conduct 3 degree-of-freedom independently and are serially connected to each other. Therefore the said mechanism conducts 6 degree-of-freedom. The said mechanism is provided at its base plane with sensors and actuators, whereby not being affected by the inertia of the sensors and the actuators. Also, in the system according to the present invention, the first link work conducts 3 degree-of-freedom among the overall 6 degree-of-freedom that are frequently used in its application, and the second link work conducts another 3 degree-of-freedom. Thereby, the system according to the present invention can achieve the enhanced performance related to the energy effectiveness and the controllability.

Parallel haptic joystick system

The non-contact sensor employs a structured light source that emits light in a predefined planar configuration and an optical receiver for reading reflected light produced by the structured light source within a predefined field of view. A tetrahedron target structure includes a three-dimensional framework that defines at least three non-collinear, non-coplanar structural lines each simultaneously visible to the sensor. A calibration system is coupled to the gauging system and the non-contact sensor for calibrating the gauging system by evaluating the geometric relationship of the structured light reflected from the structural lines of the target structure to determine the position and orientation of the target structure and then correlating the structural lines to the gauging system.

Calibration and compensation of robot-based gauging system

Growing community of inventors

Seoul, South Korea

Munsang Kim