Samsung Electronics Co., Ltd.

Yeon-taek Oh

Soo-Sang Yang

Ki-cheol Park

Yong-Kwun Lee

Woong Kwon

Woo-sup Han

Kyung-shik Roh

Young-Bo Shim

Yong-Jae Kim

Young Hwan Son

Joo-young Kwak

Kyoung-sig Roh

Ja-Woo Lee

Youn-baek Lee

Jeong-Hun Kim

Youn-Baek Lee

Won-jun Koh

A method of controlling an intelligent system using an artificial mark and method for employing the same. The intelligent system includes: an image pickup unit which obtains an image taken for a driving place; a main control unit which calculates a projective invariant of an artificial mark detected from an image taken for a driving place and analyzes the position of the intelligent system using global location information of the detected artificial mark in the driving place obtained by the calculated projective invariant and location information between the intelligent system and the detected artificial mark; and a driving control unit which controls driving of the intelligent system according to the position information of the intelligent system analyzed in the main control unit.

Method of constructing artificial mark for autonomous driving, apparatus and method of determining position of intelligent system using artificial mark and intelligent system employing the same

A traveling robot includes a main body frame having a front wheel supported in a front portion thereof in a traveling direction, a first traveling part having a first driving wheel to drive in the traveling direction, a first rear wheel disposed in a rear side of the first driving wheel, and a first wheel frame to support the first driving wheel and the first rear wheel, a second traveling part having a second driving wheel to drive in the traveling direction independently from the first driving wheel, a second rear wheel disposed in a rear side of the second driving wheel, and a second wheel frame to support the second driving wheel and the second rear wheel, a first interlocking hinge part to rotatably support the first wheel frame to the main body frame to have a hinge axis of a perpendicular direction with respect to the traveling direction, and a second interlocking hinge part to rotatably support the second wheel frame to the main body frame independently from the first interlocking hinge part to have a hinge axis of the same direction as the first interlocking hinge part.

Traveling robot

A traveling robot includes a body frame having a front wheel; a rear wheel which is disposed on a rear side of the front wheel along a traveling direction; a rear frame which supports the rear wheel and is supported by the body frame so as to move vertically; a driving wheel which is disposed between the front wheel and the rear wheel in the traveling direction; a driving frame which supports the driving wheel and is coupled to the body frame by a hinge whose axis is parallel to an axis of the driving wheel; and a linkage member which is coupled to the driving frame to be contacted with or separated from the rear frame as the driving frame is rotated relative to the body frame.

A landmark detection apparatus and method, the apparatus including a first detection unit that generates N first sample blocks in a first sampling region using a first weighted sampling method according to a first degree of dispersion, and that performs a first landmark detection by comparing a feature of each first sample block a feature of a landmark model, where the first sample region is set to the entirety of a current frame image; and a second detection unit that generates N second sample blocks in a second sampling region using a second weighted sampling method according to a second degree of dispersion, and that performs a second landmark detection by comparing a feature of each second sample block the feature of the landmark model, where the second sampling region is set to an area less than the entirety of the current frame image.

Landmark detection apparatus and method for intelligent system

A method for constructing an artificial mark for autonomous driving of an intelligent system, an apparatus and method for determining the location of an intelligent system using the artificial mark, and an intelligent system employing the same. The apparatus and method for determining the location of an intelligent system includes a projective invariant calculator which calculates a projective invariant of an artificial mark detected from an image taken for a driving place; a search unit which stores a database of indices according to a combination of colors of polygons included in the artificial mark, projective invariants of the artificial marks, and global location information of the artificial marks in the driving place, and searches the database by the calculated projective invariant for obtaining the global location information of the detected artificial mark; and a position information analyzer which analyzes the position of the intelligent system by using the global location information of the detected artificial mark and location information between the intelligent system and the detected artificial mark.

A mobile robot having wheels which maintain contact forces against a surface even when the mobile robot meets an obstacle on the surface and a body of the mobile robot is forced up against the obstacle. The mobile robot easily surmounts the obstacle on the surface, without requiring any sensors, any specific controller, any specific traveling unit to surmount over the obstacle, or any specific drive unit to drive the specific traveling unit. The mobile robot includes the body, the wheels connected with the body which move arcuately relative to the body, and a wheel guide unit coupled at a first end to the body and at a second end to a hub of each of the wheels. The wheel guide unit is contracted when the body is spaced apart from the surface on which the robot moves. However, the wheel guide unit expands to allow the wheel to be in contact with the surface when the body comes into contact with the surface.

Mobile robot

A robot system including a beacon provided with a transmitting part to transmit a light for location determination, and a mobile robot provided with a receiving part to receive the light. The robot system further includes a rotation driving part to rotate the transmitting part about a predetermined axis; an encoder to add phase information regarding how much the transmitting part is rotated by the rotation driving part with respect to a reference direction to the light; and a location determiner to determine a location of the mobile robot based on the phase information of the light received by the receiving part. Accordingly, a robot system is provided, which can precisely determine a location of a mobile robot regardless of external environmental conditions, distance, and reduction of cost by using a few transmitters.

Robot system

A walking robot using simple ground reaction force sensors and a method of controlling the same. It is an aspect of the present invention to provide the walking robot and the method of controlling the same, which reduces development and manufacturing costs of the walking robot and allows non-specialists to easily participate in the development. The walking robot includes a plurality of legs. One or more sensors are mounted on soles of each of the legs to detect whether the soles of each of the legs are in contact with a ground during locomotion. The walking robot performs the locomotion according to a locomotion pattern composed of a plurality of locomotion cycles, and proceeds from a current locomotion cycle to a next locomotion cycle after determining whether the current locomotion cycle is stable using detection results of the sensors.

Walking robot using simple ground reaction force sensors and a method of controlling the same

A charging apparatus used with a mobile robot has an improved charging structure so that a mobile robot is easily brought into electrical contact with a charging unit, thereby reducing manufacturing costs and preventing a charging failure. The charging unit is provided with a plurality of charging terminals which are brought into electrical contact with corresponding ones of contact terminals of the mobile robot. Each of the charging terminals includes a body and a head. A contact plate is mounted to a predetermined portion of the head to be brought into electrical contact with a corresponding one of the contact terminals.

Charging apparatus used with a mobile robot

A two-legged walking robot includes a pair of foot members a calf member provided above each foot member, a double-axis ankle joint provided between the foot member and the calf member to allow the foot member to rotate relative to the calf member in forward and backward directions and in right and left directions. The robot also includes a femoral member provided above each calf member, a single-axis knee joint provided between the calf member and the femoral member, a hip member provided above the femoral member, and a double-axis hip joint provided between the femoral member and the hip member to allow the femoral member to rotate relative to the hip member in the forward, backward, right, and left directions. Thus, the two-legged walking robot operates similar to a human ankle, knee and hip.

Two-legged walking robot

A ground reaction force measuring module for a walking robot includes a housing installed at a predetermined portion of the walking robot facing the ground, a moving unit installed capable of moving with respect to the housing according to the presence of a pressing force to the ground transferred from the ground to the walking robot, and a compression sensor installed in the housing to measure a reaction force of the ground from the presence of the pressing force transferred through the moving unit. Thus, a change in the ground reaction force in a wide range can be stably coped with and the installation position of the robot foot can be easily changed.

Ground reaction force measuring module for walking robot and robot foot structure adopting the same

A method of controlling a biped walking robot to balance the robot based on a sensed ground reaction force. In the method, X and Y coordinates are assigned to positions of sensors attached to a sole of a leg of the robot and a corresponding Z coordinate is assigned for at least three of the sensors based on the sensed ground reaction force sensed by at the sensors, respectively. A ground reaction force plane is specified based on the sensed ground reaction force and a normal vector perpendicular to the ground reaction force plane is calculated. A roll angle about an X-axis and a pitch angle about a Y-axis are calculated and an actuator is driven in correspondence to the roll angle and the pitch angle to move a part of the robot to align the normal vector with a reference vector of the gravity direction.

Method of controlling biped walking robot

A rotating angle measuring device for a rotary object includes a holder mounted detachably to the object so that the holder is rotated together with the object; a rotating angle sensor coupled to the holder and having a shaft rotated relative to the holder; a level coupled to the shaft and having an initial value as a datum; and an operation part which rotates the shaft. A rotating angle of the shaft is measured by rotating the shaft using the operation part until the changed value of the level due to the rotation of the object is returned to the initial value, thereby determining a rotating angle of the object. A rotating angle measuring method includes the steps of mounting a rotating angle sensor and a level to the object, the level being coupled to a shaft of the sensor and rotated with the shaft; setting an initial value of the level; rotating the object at a target rotating angle; returning the changed value of the level due to the rotating step to the initial value by rotating the level; and measuring a practical rotating angle of the object by measuring with the sensor the rotating angle of the shaft during the returning step. The method further comprises a compensating step after the measuring step, in which the practical rotating angle of the object is analyzed and a deviation between the target rotating angle and the practical rotating angle is calculated and compensated for.

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Yongin, South Korea

Yeon-taek Oh