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 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 simultaneous localization and map building (SLAM) method and medium for a moving robot is disclosed. The SLAM method includes extracting a horizontal line from an omni-directional image photographed at every position where the mobile robot reaches during a movement of the mobile robot, correcting the extracted horizontal line, to create a horizontal line image, and simultaneously executing a localization of the mobile robot and building a map for the mobile robot, using the created horizontal line image and a previously-created horizontal line image.

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: An apparatus and a method of locating a moving robot are disclosed. The apparatus includes a storage unit storing information on straight lines of wall on a map, a state quantity detection unit detecting quantity of state of the robot running along the wall, and a control unit estimating an interior position of the robot by obtaining straight line information based on the detected state quantity and matching the obtained straight line information with the stored straight line information.

Abstract: Disclosed is a method of defining control angles to use a limit cycle in order to balance a biped walking robot on a three-dimensional space. In order to balance an FSM-based biped walking robot right and left on a three-dimensional space, limit cycle control angles to balance the robot according to states of the FSM-based robot are set on the three-dimensional space, and the limit cycle control angles on the three-dimensional space are controlled using a sinusoidal function to allow relations between the control angles and control angular velocities to form a stable closed loop within a limit cycle.

Abstract: There is provided a robot, which compensates for the angle of a joint, bent due to external force, using a redundant degree of freedom of the robot, and a method of controlling the same. The method includes sensing a bending angle of a joint due to external force or a torque applied to the joint, comparing the bending angle of the joint or the torque applied to the joint with an allowable safety reference value; and adjusting the bending angle of a higher-level joint of the joint using a redundant degree of freedom of the robot, when the bending angle or the torque reaches the allowable safety reference value, thereby compensating for the excessively bending angle of the joint and thus being capable of safely controlling the robot.

Abstract: 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.

Abstract: A robot and a control method thereof which execute grasp planning of hands of the robot separately from motion planning of arms of the robot so as to apply a result of the grasp planning of the hands of the robot to the motion planning of the arms of the robot, and thus more rapidly, naturally and stably grasp an object in a grasp manner suited to a desired working purpose and judge whether or not grasping is executable prior to the motion planning of the arms of the robot, thereby more stably grasping the object.

Abstract: A hoist apparatus including a hoist and control method are provided. The hoist includes a cable to which an object is connected, a motor, a drum to wind or unwind the cable in linkage with rotation of the motor, a pulley connected to the drum via the cable to guide the cable to the drum, and an angle detection assembly to detect an angle of the cable between the pulley and the object. A control unit detects whether the object shakes based on the angle of the cable and controls shaking restriction if shaking of the object is detected. User force and angle of the cable are detected and movement of the object is controlled, the object is easily moved by the user, auxiliary force is applied to the object, and vibration of the object is minimized.

Abstract: A walking robot and a control method thereof. The control method includes performing transition of a second leg to a toe-off state, when ground reaction force applied to a first leg exceeds a first set value under the condition that the first leg is in a swing state and the second leg is in a support state, performing transition of the second leg to the swing state and transition of the first leg to the support state, when ground reaction force applied to the second leg is below a second set value under the condition that the second leg is in the toe-off state, and achieving walking of the walking robot by repeating the transitions among the swing state, the support state and the toe-off state. Thereby, the control method allows the robot to more stably and naturally walk.

Abstract: A robot and a control method thereof. The control method includes generating and storing plural grasping motions corresponding to data of a target object, selecting a grasping motion corresponding to a grasping purpose of the target object among the plural grasping motions, generating a path of arms corresponding to the selected grasping motion, calculating torques to track the path of the arms, and outputting the torques toward the arms so as to perform movement of the arms and grasping of the target object. The grasping motion path corresponding to the grasping purpose is generated and the path of arms is generated, thereby reducing overall calculation time during grasping of the target object to increase calculating efficiency, minimizing generation of the path of the arms, and allowing an arm path calculating process to be performed at the late stage of a grasping control process to improve grasping performance.

Abstract: A method for planning the robot path includes forming a shape space that includes a start point, a goal point, and obstacle information so as to generate a moving path of the robot, generating one or more moving paths of the robot within the shape space, and storing the generated moving paths in a database, selecting a specific path that has a minimum operation range of the robot and a minimum constraint caused by the obstacle from among the stored moving paths, and planning the selected path, enabling the robot to perform motion along the planned path, and pre-planning a path for a next motion of the robot while the robot performs the motion. The apparatus or method for planning the robot path can reduce a time from an end time of one motion to the start time of the next motion, thereby performing a smooth motion.

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 and a control method thereof. The control method includes storing angle change data according to time corresponding to at least one joint unit of the robot using human walking data, extracting reference knot points from the angle change data according to time, and generating a reference walking trajectory using the extracted reference knot points, calculating a walking change factor to perform change between walking patterns of the robot, generating a target walking trajectory through an arithmetic operation between the reference walking trajectory and the calculated walking change factor, calculating a control torque to track the generated target walking trajectory, and transmitting the calculated control torque to the at least one joint unit so as to control walking of the robot, thereby achieving various walking patterns through a comparatively simple arithmetic operation process.

Abstract: A robot and a method for creating a robot path. The method for planning the robot path includes generating a depth map including a plurality of cells by measuring a distance to an object, dividing a boundary among the plurality of cells into a plurality of partitions according to individual depth values of the cells, and extracting a single closed loop formed by the divided boundary, obtaining a position and shape of the object located at a first time through the extracted single closed loop, calculating a probability that the object is located at a second time after t seconds on the basis of the obtained position and shape of the object located at the first time, and creating a moving path simultaneously while avoiding the object according to the calculated probability, thereby creating an optimum path without colliding with the object.

Abstract: A face recognition apparatus and method. Sub-images having different face sizes are generated using a received face image of a person to be identified. Feature vectors of the sub-images are generated and observation nodes are generated based on the feature vectors. The observation nodes corresponding to the sub-images are compared with stored reference nodes of sub-images of a registered person on a face size by face size basis to calculate similarity scores between the observation nodes and the reference nodes. State nodes are generated based on the respective similarity scores of the face sizes, the observation and state nodes are compared, and the state nodes are compared to perform face recognition. This improves face recognition performance and face recognition speed. Face recognition performance robust to facial expression variation or type information is achieved by performing I-shaped curvature Gabor filtering on a plurality of sub-images based on the eye distance.

Abstract: A robot which naturally walks with high energy efficiency similar to a human through optimization of actuated dynamic walking, and a control method thereof. The control method includes defining a plurality of unit walking motions, in which stride, velocity, rotating angle and direction of the robot are designated, through combination of parameters to generate target joint paths, and constructing a database in which the plurality of unit walking motions is stored, setting an objective path up to an objective position, performing interpretation of the objective path as unit walking motions, generating walking patterns consisting of at least one unit walking motion to cause the robot to walk along the objective path based on the interpretation of the objective path, and allowing the robot to walk based on the walking patterns.

Abstract: A walking control apparatus and method of a robot. The walking control method include confirming a swing leg and a support leg by judging a walking state of the robot when a walking velocity of the robot and a walking command are received by the robot, generating reference pitch knot points of a hip joint unit of the swing leg based on the walking state and the walking velocity of the robot, generating a target pitch angle trajectory of the hip joint unit of the swing leg using the reference pitch knot points, calculating torques tracking the target pitch angle trajectory, and outputting the torques to the hip joint unit of the swing leg to control the walking velocity of the robot. The walking velocity of the robot is rapidly and easily changed by adjusting at least one of a step length and a step time.

Abstract: A walking robot and a simultaneous localization and mapping method thereof in which odometry data acquired during movement of the walking robot are applied to image-based SLAM technology so as to improve accuracy and convergence of localization of the walking robot. The simultaneous localization and mapping method includes acquiring image data of a space about which the walking robot walks and rotational angle data of rotary joints relating to walking of the walking robot, calculating odometry data using kinematic data of respective links constituting the walking robot and the rotational angle data, and localizing the walking robot and mapping the space about which the walking robot walks using the image data and the odometry data.