Abstract: Disclosed are a walking assistance robot and a method of controlling the walking assistance robot. The control method includes collecting motion information by sensing or measuring a motion of at least one joint, determining a motion state of the at least one joint based on the sensed or measured motion of the at least one joint, and controlling the walking assistance robot based on the determined motion state of the at least one joint.

Abstract: A master console includes handles configured to control robotic surgical instruments of a slave robot, force/torque detectors configured to detect forces applied to the handles by an operator, a force compensator configured to generate force control signals that cancel out the forces applied to the handles by the operator, and a master controller configured to drive at least one joint of each of the handles in order to control motion of the handles based on motion control signals and the generated force control signals.

Abstract: A surgical robot system may include a slave device having a surgical instrument; and a master device configured to transmit a control signal to the surgical instrument. The slave device may include a guide tube to which the surgical instrument is coupled; and a controller operating the surgical instrument in response to the control signal transmitted from the master device, and operate the guide tube so as to move the surgical instrument to a target position if the target position of the surgical instrument according to the control signal corresponds to a position out of a range of a current working space for the surgical instrument.

Abstract: A surgical robot system may include a slave device provided with surgical tools and a master device remotely controlling motion of the surgical tools. The master device may include handles controlling the motion of the surgical tools, a master external force estimator estimating external force applied to the handles, a force compensator generating a first force control signal to cancel out the estimated external force, and a master controller moving and rotating respective joints of the handles in such a way that the external force applied to the handles is canceled out using the generated force control signal.

Abstract: A walking robot, respective joints of which are operated through torque servo control to achieve stable pose control, and a pose control method thereof. A virtual acceleration of gravity is calculated using the COG of the robot and gravity compensation torques to apply force to links are calculated from the calculated acceleration of gravity so as to actively cope with external changes including external force or a tilt of the ground, thereby allowing the robot to stably maintain an erect pose and a desired upper body angle. Further, the robot maintains the erect pose with respect to the direction of gravity even under the condition that data regarding whether or not the ground is level or tilted are not given in advance, and maintains uniform poses of an upper body and legs while actively changing angles of ankle joints even if the ground is gradually tilted.

Abstract: A bipedal robot having a pair of legs with 6 degrees of freedom and a control method thereof which calculate a capture point by combining the position and velocity of the center of gravity (COG) and control the capture point during walking to stably control walking of the robot. A Finite State Machine (FSM) is configured to execute a motion similar to walking of a human, and thus the robot naturally walks without constraint that the knees be bent all the time, thereby being capable of walking with a large stride and effectively using energy required while walking.

Abstract: Disclosed herein is a surgical robot including a slave device performing a surgical operation upon a patient and a master device controlling the surgical operation of the slave device. The slave device includes an image capture unit including a first lighting unit radiating visible light, a second lighting unit radiating UV light, and a camera capturing a visible-light image and a surgical tool coated with a UV reactive material emitting light in response to UV light radiated by the second lighting unit.

Abstract: A robot includes a master device including an input unit, the input unit including a first end effector and a first joint, a slave device configured to be controlled by the master device and including a robot arm, the robot arm including a second end effector, a second joint, and a motor configured to drive the second joint, and a controller configured to calculate a friction compensation value to compensate for friction of the second joint based on a speed of the input unit in response to the input unit being in motion, generate a control signal based on the friction compensation value, and transmit the control signal to the motor configured to drive the second joint.

Abstract: A balance control apparatus of a robot and a control method thereof. The balance control method of the robot, which has a plurality of legs and an upper body, includes detecting pose angles of the upper body and angles of the plurality of joint units, acquiring a current capture point and a current hip height based on the pose angles and the angles of the plurality of joint units, calculating a capture point error by comparing the current capture point with a target capture point, calculating a hip height error by comparing the current hip height with a target hip height, calculating compensation forces based on the capture point error and the hip height error, calculating a target torque based on the calculated compensation forces, and outputting the calculated target torque to the plurality of joint units to control balance of the robot.

Abstract: A balance control apparatus of a robot and a control method thereof. The balance control method of the robot, which has a plurality of legs and an upper body, includes detecting pose angles of the upper body and angles of the plurality of joint units, acquiring a current capture point and a current hip height based on the pose angles and the angles of the plurality of joint units, calculating a capture point error by comparing the current capture point with a target capture point, calculating a hip height error by comparing the current hip height with a target hip height, calculating compensation forces based on the capture point error and the hip height error, calculating torques respectively applied to the plurality of joint units based on the compensation forces, and outputting the torques to the plurality of joint units to control balance of the robot.

Abstract: A bipedal robot having a pair of legs with 6 degrees of freedom and a control method thereof which calculate a capture point by combining the position and velocity of the center of gravity (COG) and control the capture point during walking to stably control walking of the robot. A Finite State Machine (FSM) is configured to execute a motion similar to walking of a human, and thus the robot naturally walks without constraint that the knees be bent all the time, thereby being capable of walking with a large stride and effectively using energy required while walking.

Abstract: A walking robot and a control method thereof. The control method of the walking robot which walks using two legs includes applying first virtual gravity torque including a vector component in the anti-gravity direction to respective joints of a support leg from among the two legs during walking, and applying second virtual gravity torque including a vector component in the gravity direction to respective joints of a swing leg from among the two legs during walking. Thereby, the walking robot implements a natural walking motion having a low energy consumption rate.

Abstract: A walking robot, respective joints of which are operated through torque servo control to achieve stable pose control, and a pose control method thereof. A virtual acceleration of gravity is calculated using the COG of the robot and gravity compensation torques to apply force to links are calculated from the calculated acceleration of gravity so as to actively cope with external changes including external force or a tilt of the ground, thereby allowing the robot to stably maintain an erect pose and a desired upper body angle. Further, the robot maintains the erect pose with respect to the direction of gravity even under the condition that data regarding whether or not the ground is level or tilted are not given in advance, and maintains uniform poses of an upper body and legs while actively changing angles of ankle joints even if the ground is gradually tilted.

Abstract: A walking robot having joints which move using a torque servo, a posture of the robot being stably controlled, and a method of controlling a posture of the robot. It is possible to maintain a stable angle of the upper body while keeping an erect posture and balance using the COG of the robot and the inclination and the direction of the upper body and the pelvis of the robot, even in an external variation including external force or an inclination angle of the ground. Even in a state in which terrain information is not known in advance, the robot may keep an erect posture in a direction of gravity. Even when a plane where the robot stands is gradually inclined, the postures of the upper body and the legs of the robot may be kept while actively changing the angle of the ankle joint.