Abstract: An autonomous mobile robot is provided. The autonomous mobile robot includes an upper module including a cargo space provided therein, and a cover, a lower module positioned under the upper module and providing a driving force, and a driving module provided in the lower module, in which the driving module includes a plurality of pairs of wheels capable of asynchronously contacting a road surface or ground so as to overcome a step or a stair.

Abstract: A system and method for efficient communication bus arbitration in a communication protocol are provided. The system and method for efficient communication bus arbitration are a system and method for slave communication bus arbitration in multi-drop communication, and provide efficient and fast communication speed by improving the packet structure in a manner in which a slave controller sequentially responds to a query of a master controller.

Abstract: Proposed is an elastic body having variable rigidity, wherein the elastic body is used in a series elastic actuator module, connects an input and an output, and has a rigidity that varies according to the applied torque. The elastic body having variable rigidity comprises: a connection part which receives torque from the input side or the output side; and a spring part connected to and receiving torque from the one selected from among the input side and the output side which is different from the connection part, wherein the spring part is formed integrally with the connection part and has a rigidity that varies as the connection part and the spring part come into contact with each other due to deformation caused by the applied torque.

Abstract: The present invention relates to a load torque detection technology, and more particularly, to a device and method for load torque detection in a robot system. According to an embodiment of the present invention, it is possible to accurately detect the load torque without requiring a position sensor included in a load torque measurement actuator to have a multi-revolution function or additional power supply.

Abstract: A driving module of an autonomous mobile robot is provided. The driving module includes a first wheel in constant contact with ground or road surface and having a first rotational axis; second and third wheels constrained in their positions relative to each other; a rear bar on which a second rotational axis of the second wheel is positioned at one end, an upper axis portion is provided at the other end, and an intermediate axis portion is provided in the middle; a front bar on which a third rotational axis of the third wheel is positioned at one end, in which the other end of the front bar is pivotably coupled to the intermediate axis portion; and a suspension unit of which one end is pivotably coupled to the upper axis portion and the other end is pivotably coupled to the third rotational axis or the front bar.

Abstract: An autonomous mobile robot is provided. The autonomous mobile robot includes an upper module including a cargo space provided therein, and a cover, a lower module positioned under the upper module and providing a driving force, a driving module provided in the lower module, and a control unit that controls an operation of the driving module, in which the driving module includes a plurality of pairs of wheels capable of asynchronously contacting a road surface or ground so as to overcome a step or a stair.

Abstract: A mobile robot platform system evolves autonomous driving ability of a mobile robot through reinforcement learning in various environments. The mobile robot platform system includes a remote control unit configured to perform remote control of the mobile robot according to its purpose of use; an autonomous driving unit configured to autonomously drive the mobile robot in an autonomous driving section based on a preset criterion; a data collection unit configured to collect data for driving of the mobile robot; a learning unit configured to train the mobile robot using reinforcement learning data including the collected data; and a determination unit configured to determine a remote control section and the autonomous driving section based on a level of the training when the mobile robot moves to a corresponding destination.

Abstract: An autonomous mobile robot is provided. The autonomous mobile robot includes an upper module including a cargo space provided therein, and a cover, a lower module positioned under the upper module and providing a driving force, and a driving module provided in the lower module, in which the driving module includes a plurality of pairs of wheels capable of asynchronously contacting a road surface or ground so as to overcome a step or a stair.

Abstract: A system and method for efficient communication bus arbitration in a communication protocol are provided. The system and method for efficient communication bus arbitration are a system and method for slave communication bus arbitration in multi-drop communication, and provide efficient and fast communication speed by improving the packet structure in a manner in which a slave controller sequentially responds to a query of a master controller.

Abstract: A module and method for linking information of a plurality of driving units, and a module and method for linking driving units of a robot system in which a master controls a plurality of driving units included in a plurality of slave devices through communication are provided. The module and method for linking driving units of a robot system provide compatibility with an existing robot motion table that uses one driving unit for one device without requiring a separate conversion operation.

Abstract: A multi-axis actuator according to one embodiment of the present invention comprises: a rectangular parallelepiped housing having first and second output surfaces vertical to each other, and first and second facing surfaces, which are respectively arranged in parallel to the first and second output surfaces so as to be vertical to each other; a first output gear for rotating around a first rotary shaft vertical to the first output surface; a second output gear for rotating around a second rotary shaft vertical to the second output surface, wherein the second rotary shaft is positioned at a height different from that of the first rotary shaft; and first and second driving motors provided inside the housing so as to respectively provide rotating power to the first and second output gears.

Abstract: An actuator module includes a drive unit for generating a rotational force, a deceleration unit connected to the drive unit to receive the rotational force therefrom for reducing a rotational speed transmitted thereto to increase the rotational force, a flexible unit connected to the deceleration unit to receive the rotational force therefrom and having a plurality of elastic members in a stacked form, the elastic members being variable by an external force, and an output unit connected to the flexible unit to receive the rotational force therefrom for outputting the transmitted rotational force to the outside, wherein the elastic members have the same elastic force or different elastic forces, and are selectively varied depending on the magnitude of the external force applied to the output unit.

Abstract: A gear module includes: an external gear eccentrically rotating and having a plurality of teeth formed along an outer peripheral surface thereof; and an internal gear having a plurality of grooves formed along an inner peripheral surface thereof, wherein each groove and each pin come into contact with each other with two contact points, and each groove is formed concavely from an overlapping portion between a first circular sector having a first curvature radius r1 larger than a curvature radius of each pin and a first circular arc coming into contact with one contact point and a second circular sector having a second curvature radius larger than the curvature radius of each pin and a second circular arc coming into contact with another contact point, the first curvature radius and the second curvature radius passing through a center point of each pin and having the same size as each other.

Abstract: The present invention relates to a semi-hollow actuator module and, more particularly, to a semi-hollow actuator module that has solved the problem that wires (cables) are entangled when an actuator module including a motor and a reducer therein is combined with another actuator module or a module connection member, etc. by improving a connection structure of the wires.

Abstract: An embodiment of the present invention provides a device for attaching/detaching an idler horn for an actuator module which can have a motor, a reduction gear and a control circuit equipped therein. The device, for attaching/detaching an idler horn, comprises: a ring-shaped elastic switch which surrounds the inner end part of a cylindrical hollow portion provided on one side of a housing that forms the outer skin of an actuator module; and a ring-shaped cover member which is for fixing the ring-shaped elastic switch, wherein the ring-shaped elastic switch can be selectively attached/detached to/from an idler horn by means of elasticity.

Abstract: An embodiment of the present invention provides an actuator module which can be equipped with a motor, a reduction gear and a control circuit, the actuator module comprising: a first housing which can have an active shaft, connected to a motor, pass through and be coupled thereto; and a second housing which is coupled to the first housing and has a passive idler horn, provided in a position in correspondence with the active shaft, pass through and be coupled thereto, wherein the idler horn has interposed a tube-shaped bearing, having a hollow portion formed in the center thereof, is coupled to a side of the second housing, and can have a cable connected into the second housing through the hollow portion of the tube-shaped bearing.