Abstract: This application relates to a method of mitigating a collision of a slave robot for surgery. In one aspect, the method includes obtaining an external torque generated when the slave robot collides with another object or a person and obtaining a joint angle of the slave robot. The method may also include calculating a target joint angle for changing a position of the slave robot based on the obtained external torque and the obtained joint angle, such that the external torque is attenuated. The method may further include controlling the slave robot to change the position thereof from the obtained joint angle to the calculated target joint angle.

Abstract: Provided is a method of controlling a wearable robot, the method including: measuring a ground reaction force (GRF) exerted on a wearer's soles; calculating a time variation rate of the measured GRF; measuring the wearer's knee joint angle; and detecting a time point at which the calculated time variation rate of the GRF and the measured knee joint angle cross each other.

Abstract: There are provided a wearable robot and a method of controlling the same. The method includes obtaining a joint angle and a joint angular velocity of a plurality of joints, calculating a target joint angle of one joint among the plurality of joints using a joint angle and a joint angular velocity of at least one joint among the other joints, calculating assistive torque to be applied to the one joint using the calculated target joint angle, and outputting the calculated assistive torque to the one joint.

Abstract: Disclosed herein is a wearable robot for assisting a wearer's intended motion, including: one or more links configured to support the wearer; one or more joints unit configured to connect the links to each other; a controller configured to determine the wearer's intended motion, and to calculate at least one torque based on the wearer's intended motion; and a driver configured to generate the calculated torque in the joints. According to the wearable robot, a wearer's intended motion may be determined in real time based on a velocity of the wearer's center of gravity. At this time, by using a pressure sensor, reliability of the motion determination may increase. Also, joint movements may be effectively controlled according to the wearer's intended motion.

Abstract: There are provided a wearable robot and a method of controlling the same. The method includes obtaining a joint angle and a joint angular velocity of a plurality of joints, calculating a target joint angle of one joint among the plurality of joints using a joint angle and a joint angular velocity of at least one joint among the other joints, calculating assistive torque to be applied to the one joint using the calculated target joint angle, and outputting the calculated assistive torque to the one joint.

Abstract: Disclosed herein is a wearable robot for assisting a wearer's intended motion, including: one or more links configured to support the wearer; one or more joints unit configured to connect the links to each other; a controller configured to determine the wearer's intended motion, and to calculate at least one torque based on the wearer's intended motion; and a driver configured to generate the calculated torque in the joints. According to the wearable robot, a wearer's intended motion may be determined in real time based on a velocity of the wearer's center of gravity. At this time, by using a pressure sensor, reliability of the motion determination may increase. Also, joint movements may be effectively controlled according to the wearer's intended motion.

Abstract: A manipulator and a method of generating the shortest path along which the manipulator moves to grip an object without collision with the object models a target object and a gripper into a spherical shape, measures a current position of the gripper and a position of the target object and a target position of the gripper, calculates an arc-shaped path in a two-dimensional plane along which the gripper needs to move by calculating an included angle of a triangle consisting of the position of the object and the current position and target position of the gripper, transforms the arc-shaped path in the two-dimensional plane into an arc-shaped path in a three-dimensional space using a transform matrix consisting of the position of the object and the current position and target position of the gripper, thereby automatically generating the shortest path of the manipulator.

Abstract: Provided is a method of controlling a wearable robot, the method including: measuring a ground reaction force (GRF) exerted on a wearer's soles; calculating a time variation rate of the measured GRF; measuring the wearer's knee joint angle; and detecting a time point at which the calculated time variation rate of the GRF and the measured knee joint angle cross each other.

Abstract: Disclosed herein is a method of controlling a robot hand similar to a hand of a human being such that the robot hand naturally and safely grasps an object. The robot hand, including fingers and a palm, is capable of naturally and safely grasping an object, by the tip of each finger performing impedance control while following the optimal path on a Cartesian coordinate system, although the robot hand cannot reach a position ideal to grasp the object due to sensor errors or shape information of the object to be grasped is not correctly recognized. Also, the robot hand is capable of stably grasping the object even when moving or manipulating the object.

Abstract: A method and apparatus to generate a humanlike motion of a humanoid robot which is capable of performing a humanlike breathing motion. For example, the method includes calculating target rotational angles of respective rotary joints to perform a basic motion according to a user command, calculating rotational angles of respective rotary joints to perform a breathing motion, and generating the breathing motion by adding up the target rotational angles of the respective rotary joints to perform the basic motion and the rotational angles to perform the breathing motion and providing the angles obtained thereby to respective rotary joints constituting joint units related to the breathing motion, thus providing intimacy and aesthetic stability to users.

Abstract: A manipulator, and a control method thereof, calculates a degree of freedom (DOF) used to prevent collision with an obstacle in consideration of an order of priority of DOFs for an operation and collision avoidance contribution. The manipulator judges whether there is danger of collision of the manipulator with an obstacle, judges whether or not there is at least one operating DOF capable of avoiding collision with the obstacle among the plurality of operating DOFs, upon judging that there is danger of collision with the obstacle, and avoids collision with the obstacle using at least one operating DOF having the lowest priority while performing the operation among the at least one operating DOF capable of avoiding collision with the obstacle, upon judging that there is the at least one operating DOF capable of avoiding collision with the obstacle.

Abstract: Disclosed are a robot, which performs cooperative work with a plurality of robot manipulators through impedance control, and a method of controlling cooperative work of the robot. The method includes calculating absolute coordinate positions of end effectors, respectively provided at a plurality of manipulators to perform the work; calculating a relative coordinate position from the absolute coordinate positions of the end effectors; calculating joint torques of the plurality of manipulators using the relative coordinate position; and controlling the cooperative work of the plurality of manipulators according to the joint torques.

Abstract: A robot one of transfers an article to an external subject and receives the article from the human subject and flexibly copes with changes in human intention. If a pushing force applied to robot hands is sensed, the robot hands grip and pull the article to inform the external subject that the robot hands are prepared to receive the article from the external subject, and transfers the article to the external subject or takes the article from the external subject according to whether the pushing force or a pulling force applied to the robot hands is sensed. If the pulling force applied to a robot hands is sensed, the robot pushes the article to inform the external subject that the robot hands are prepared to transfer the article to the external subject, and transfers the article to the external subject or takes the article from the external subject according to whether the pushing force or the pulling force applied to the robot hands is sensed.

Abstract: Disclosed are a robot arm having high back-drivability to interact with a human being, which is safely stopped, and a method of controlling the robot arm. When the operation of the robot arm having high back-drivability to interact with a human being is converted into a safety mode due to the occurrence of an emergency, in which the operation of the robot arm is stopped, only a torque having a degree to compensate for gravity applied to the robot arm, i.e., only a torque to maintain the kinematical position of the current state of the robot arm without falling of the robot arm due to gravity, is outputted to control the robot arm as if the robot arm is in a weightless state, thus being capable of safely stopping the robot arm.

Abstract: A manipulator and a method of generating the shortest path along which the manipulator moves to grip an object without collision with the object models a target object and a gripper into a spherical shape, measures a current position of the gripper and a position of the target object and a target position of the gripper, calculates an arc-shaped path in a two-dimensional plane along which the gripper needs to move by calculating an included angle of a triangle consisting of the position of the object and the current position and target position of the gripper, transforms the arc-shaped path in the two-dimensional plane into an arc-shaped path in a three-dimensional space using a transform matrix consisting of the position of the object and the current position and target position of the gripper, thereby automatically generating the shortest path of the manipulator.

Abstract: A grasping method of a multi-finger hand including calculating positions of tips of plural actual fingers; calculating positions of tips of plural virtual fingers using the calculated positions of the tips of the plural actual fingers; judging that a central position among the calculated positions of the tips of the plural virtual fingers is a central position of a virtual object based on the calculated positions of the tips of the plural virtual fingers; and controlling joint torques of the respective actual fingers corresponding to the tips of the virtual fingers such that motions of the tips of the plural virtual fingers are carried out while uniformly maintaining the relative positional relationships of the tips of the plural virtual fingers based on the central position of the virtual object.

Abstract: A method and apparatus to generate a humanlike motion of a humanoid robot which is capable of performing a humanlike breathing motion. For example, the method includes calculating target rotational angles of respective rotary joints to perform a basic motion according to a user command, calculating rotational angles of respective rotary joints to perform a breathing motion, and generating the breathing motion by adding up the target rotational angles of the respective rotary joints to perform the basic motion and the rotational angles to perform the breathing motion and providing the angles obtained thereby to respective rotary joints constituting joint units related to the breathing motion, thus providing intimacy and aesthetic stability to users.

Abstract: A manipulator, and a control method thereof, calculates a degree of freedom (DOF) used to prevent collision with an obstacle in consideration of an order of priority of DOFs for an operation and collision avoidance contribution. The manipulator judges whether there is danger of collision of the manipulator with an obstacle, judges whether or not there is at least one operating DOF capable of avoiding collision with the obstacle among the plurality of operating DOFs, upon judging that there is danger of collision with the obstacle, and avoids collision with the obstacle using at least one operating DOF having the lowest priority while performing the operation among the at least one operating DOF capable of avoiding collision with the obstacle, upon judging that there is the at least one operating DOF capable of avoiding collision with the obstacle.

Abstract: A robot one of transfers an article to an external subject and receives the article from the human subject and flexibly copes with changes in human intention. If a pushing force applied to robot hands is sensed, the robot hands grip and pull the article to inform the external subject that the robot hands are prepared to receive the article from the external subject, and transfers the article to the external subject or takes the article from the external subject according to whether the pushing force or a pulling force applied to the robot hands is sensed. If the pulling force applied to a robot hands is sensed, the robot pushes the article to inform the external subject that the robot hands are prepared to transfer the article to the external subject, and transfers the article to the external subject or takes the article from the external subject according to whether the pushing force or the pulling force applied to the robot hands is sensed.

Abstract: A grasping method of a multi-finger hand including calculating positions of tips of plural actual fingers; calculating positions of tips of plural virtual fingers using the calculated positions of the tips of the plural actual fingers; judging that a central position among the calculated positions of the tips of the plural virtual fingers is a central position of a virtual object based on the calculated positions of the tips of the plural virtual fingers; and controlling joint torques of the respective actual fingers corresponding to the tips of the virtual fingers such that motions of the tips of the plural virtual fingers are carried out while uniformly maintaining the relative positional relationships of the tips of the plural virtual fingers based on the central position of the virtual object.