Abstract: Disclosed are a robot, which generates a stable walking pattern similar to that of a human, and a method of controlling walking thereof. The method includes generating a walking pattern of a leg connected to a torso of the robot; detecting whether or not a singularity pose of the leg walking according to the walking pattern is generated; and changing the walking pattern by adjusting a yaw direction angle of the torso when the singularity pose is generated.

Abstract: Disclosed are a biped walking robot, which carries out walking with a high energy efficiency through adjustment of the stiffnesses of joints of legs and improves walking stability through control of the pose of a torso, and a method of controlling the walking robot. The method includes generating a walking pattern of plural legs connected to a torso of the walking robot; adjusting stiffness of each of the plural legs interlocking with walking phases of the plural legs driven according to the walking pattern; and measuring a tilt of the torso, and compensating for the tilt of the torso such that the torso is parallel with the gravity direction.

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 are a robot, which builds a map using a surface data of a three-dimensional image, from which a dynamic obstacle is removed, and a method of building a map for the robot. The method includes sequentially acquiring first and second surface data of a route on which the robot moves; matching the first and second surface data with each other to calculate a difference between the first and second surface data; detecting a dynamic obstacle from the first and second surface data according to the difference between the first and second surface data; generating a third surface data by removing the dynamic obstacle from at least one of the first and second surface data; and matching the third surface data and any one of the first and second surface data with each other to build the map.

Abstract: 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.

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 moving robot and moving object detecting method and medium thereof is disclosed. The moving object detecting method includes transforming an omni-directional image captured in the moving robot to a panoramic image, comparing the panoramic image with a previous panoramic image and estimating a movement region of the moving object based on the comparison, and recognizing that a movement of the moving object exist in the estimated movement region when the area of the estimated movement region exceeds the reference area.

Abstract: A motion estimation method and system for a mobile body are provided. The method includes: obtaining magnetic field information from compass information of the mobile body; comparing the magnetic field of the mobile body with a predetermined value and determining whether a position of the mobile body belongs to a specific region according to the comparison result; and estimating a direction of the mobile body by determining whether a compass azimuth angle is used for direction estimation of the mobile body according to the determination result.

Abstract: 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.

Abstract: A compliant joint capable of achieving passive compliance for a robot in order to prevent an injury to a human by collision with the robot. The compliant joint includes a housing, a cam member rotatably mounted in the housing, a roller spring device mounted to the cam member to be compressed and extended, a guiding member formed in the housing to guide compression and extension of the roller spring device in accordance with rotation of the cam member, and a receiving recess formed at the guiding member to engage the housing and the cam member with each other by receiving the roller spring device and release the engagement by separating from the roller spring device. Accordingly, robustness of the robot can be maintained when an impact less than a predetermined magnitude is applied, while being suddenly decreased when an impact greater than the magnitude is applied.

Abstract: 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.

Abstract: A localization method of a moving robot is disclosed in which the moving robot includes: capturing a first omni-directional image by the moving robot; confirming at least one node at which a second omni-directional image having a high correlation with the first omni-directional image is captured; and determining that the moving robot is located at the first node when the moving robot reaches a first node, at which a second omni-directional image having a highest correlation with the first omni-directional image is captured, from among the at least one node.

Abstract: Provided are an apparatus and method of calibrating azimuth of a mobile device. The apparatus includes: a motor; a magnetic field measuring unit disposed in the mobile device and measuring magnetic field data indicating magnitudes of a magnetic field in different directions while being rotated by the motor; and a controller driving the motor, generating a calibration table indicating a correspondence between an actual magnetic field trajectory formed by the magnetic field data and a theoretical magnetic field trajectory and calibrating azimuth of the mobile device using the calibration table.

Abstract: A method to determine the location of a robot using an omni-directional image, the method including acquiring an omni-directional image from a robot, extracting a predetermined current line from the acquired omni-directional image, calculating a correlation coefficient between the extracted current line of the robot and each landmark line of pre-stored nodes using a Fast Fourier Transform (FFT), and performing a stochastic approach method of a particle filtering process on a basis of the calculated correlation coefficient to recognize a location of the robot.

Abstract: A method and apparatus for detecting a free fall of an electronic device. The method includes: sensing a falling acceleration of the electronic device using an acceleration sensor; determining whether the sensed falling acceleration is less than a predetermined threshold; when the sensed falling acceleration is less than the predetermined threshold, determining whether the falling acceleration is a statistical constant, which has a statistical significance, and is maintained for a predetermined time; and when the falling acceleration is a statistical constant and maintained for a predetermined time, determining that the electronic device falls freely. Accordingly, it is possible to exactly detect a free fall of an electronic device, irrespective of an error of the acceleration of gravity generated when a falling acceleration of the electronic device is measured, due to ambient conditions, e.g., a temperature change and a rotation acceleration generated when the electronic device rotates.

Abstract: A walking robot includes legs, driving parts provided respectively at the legs for operating the legs, detecting parts provided respectively at the legs for detecting operating states of the legs, a walking pattern generating unit for generating a walking pattern by using predetermined control factors, and a stiffness adjusting unit for adjusting stiffness of the driving parts according to the operating states of the legs which operate according to the walking pattern. The walking robot is capable of generating a walking pattern according to a unique frequency thereof and adjusting stiffness of driving parts of the legs according to the generated walking pattern, to thereby increase an energy efficiency.

Abstract: Provided is a method of generating a magnetic field map including obtaining magnetic field information, the magnetic field information being information on a magnetic field affecting a mobile body, for each position of the mobile body, and building a magnetic field map based on the magnetic field information for each position of the mobile body. The pose of a mobile body can be statistically checked by the probability obtained using the difference between the magnetic field information observed from the magnetic field map and the actually measured magnetic field information. Although the pose of the mobile body is estimated using a camera that is sensitive to an illumination state where the mobile body is placed, the pose of the mobile body can be relatively accurately checked using the magnetic field map obtained in a situation regardless of illumination, with being less affected by the illumination state where the mobile body is placed. Thus, the pose of the mobile body can be checked with reliability.

Abstract: A moving robot apparatus and a control system and method thereof. A current state variable (e.g., the current direction of the main body of the robot apparatus) may be estimated using current data output from a sensor part of the robot apparatus. Initially, it is determined whether the current data output from the sensor part satisfy a necessary condition. The necessary condition may be considered to be satisfied when the current data are unaffected by a disturbance or external interference (e.g., the earth's magnetic field.). Thereafter, a current sample value may be extracted from a previous sample value obtained from the sensor part. The previous sample value may relate to a previous state variable (e.g., a previous direction of the robot main body). A weight of the current data may be calculated based on the current sample value. A value of the weight may depend on whether the necessary condition is satisfied by the current data.

Abstract: A method and apparatus for navigating an unmanned vehicle using sensor fusion are provided. This method includes: measuring a plurality of parameters using at least two sensors that sense a result of a position estimation of the unmanned vehicle; selectively combining the measured parameters; detecting changes of the parameters within expected ranges; and estimating a position of the unmanned vehicle represented by an unknown state of sensor data and a desired inference, using estimation and error distribution. The apparatus is scalable, so it can be easily expanded or compressed under any environmental conditions. The apparatus is also survivable, so if a sensor source is lost or malfunctions, it is not a disaster for the whole system, but it just decreases exponential-related error estimation. The apparatus is also modular, so the apparatus can easily determine what kind of sensor is responsible for what kind of sensing.

Abstract: An omni-directional stereo camera and a control method thereof. The omni-directional stereo camera includes two or more omni-directional cameras, and a supporting member installed within a shooting range between the omni-directional cameras to interconnect the omni-directional cameras and including compensation patterns formed at the surfaces.