Patents by Inventor Kyung-shik Roh

Kyung-shik Roh has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Mobile robot and simultaneous localization and map building method thereof
    Patent number: 9058521
    Abstract: A simultaneous localization and map building method of a mobile robot including an omni-directional camera. The method includes acquiring an omni-directional image from the omni-directional camera, dividing the obtained omni-directional image into upper and lower images according to a preset reference to generate a first image, which is the lower image, and a second image, which is the upper image, extracting feature points from the first image and calculating visual odometry information calculating visual odometry information to track locations of the extracted feature points based on a location of the omni-directional camera, and performing localization and map building of the mobile robot using the calculated visual odometry information and the second image as an input of an extended Kalman filter.
    Type: Grant
    Filed: August 26, 2011
    Date of Patent: June 16, 2015
    Assignee: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Suk June Yoon, Kyung Shik Roh, Seung Yong Hyung, Hyo Seok Hwang, Sung Hwan Ahn
  • Speech signal transmission and reception apparatuses and speech signal transmission and reception methods
    Patent number: 9058804
    Abstract: A speech signal transmission apparatus includes an extractor to extract speech signals from speech source signals collected by a plurality of microphones, a power calculator to calculate powers of speech signals of multiple channels and set any one of the speech signals of the multiple channels as a reference speech signal, a synchronization adjustor to adjust synchronization of the other speech signals based on the reference speech signal, a signal generator to generate extraction signals by offsetting the reference speech signal from the other synchronization-adjusted speech signals, an encryptor to compress and encrypt the reference speech signal and the extraction signals, and a transmitter to transmit the compressed and encrypted reference speech signal and extraction signals.
    Type: Grant
    Filed: November 26, 2012
    Date of Patent: June 16, 2015
    Assignee: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Byung Kwon Choi, Young Do Kwon, Dong Soo Kim, Kyung Shik Roh
  • Path planning apparatus and method for robot
    Patent number: 9044862
    Abstract: Disclosed herein are a path planning apparatus and a method for a robot to plan an optimal path along which a manipulator of a robot moves to a goal point from a start point. An obstacle within a prescribed angle on a straight line connecting a start point and a goal point is recognized as a middle point in a configuration space and arbitrary points separated from the middle point by a prescribed distance are selected. Among the selected points, arbitrary points which can directly connect the start point and the goal point without passing the obstacle are selected as waypoints to map a new middle node. A path is extended via the middle node and extension of a tree in a wrong direction is minimized so that the manipulator is not struck at local minima without depending greatly on a goal score, thereby improving the performance of path planning and rapidly searching for a path.
    Type: Grant
    Filed: August 3, 2010
    Date of Patent: June 2, 2015
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Myung Hee Kim, Kyung Shik Roh, San Lim, Bok Man Lim, Guo Chunxu
  • Manipulator and path generation method thereof
    Patent number: 9043030
    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.
    Type: Grant
    Filed: June 11, 2012
    Date of Patent: May 26, 2015
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Jong Do Choi, Kyung Shik Roh, Young Bo Shim
  • X-RAY IMAGING APPARATUS AND METHOD OF CONTROLLING THE SAME
    Publication number: 20150139382
    Abstract: Provided are an X-ray imaging apparatus that is capable of tracking a position of an object of interest using a Kalman filter so as to reduce the amount of X-ray radiation exposure of a subject, calculating covariance indicative of accuracy of the tracing, and controlling a collimator so that the position of the object of interest and calculated covariance may be correlated with a position and an area of a region into which X-rays are radiated, and a method of controlling the X-ray imaging apparatus.
    Type: Application
    Filed: September 26, 2014
    Publication date: May 21, 2015
    Inventors: Seung Yong HYUNG, Ji Yeun KIM, Kyung Shik ROH, Jong Won LEE, Ju Suk LEE, Won Jun HWANG, Hyo Seok HWANG
  • Robot and control method of optimizing robot motion performance thereof
    Patent number: 9037292
    Abstract: A robot and a method of controlling the same are disclosed. The robot derives a maximum dynamic performance capability using a specification of an actuator of the robot. The control method includes forming a first bell-shaped velocity profile in response to a start time and an end time of a motion of the robot, calculating a value of an objective function having a limited condition according to the bell-shaped velocity profile, and driving a joint in response to a second bell-shaped velocity profile that minimizes the objective function having the limited condition.
    Type: Grant
    Filed: October 25, 2010
    Date of Patent: May 19, 2015
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Bok Man Lim, Kyung Shik Roh, San Lim, Myung Hee Kim
  • WALK-ASSISTIVE ROBOT AND METHOD OF CONTROLLING THE SAME
    Publication number: 20150134079
    Abstract: Provided are a walk-assistive robot and a method of controlling the same. The method of controlling the walk-assistive robot includes: obtaining ground information that is information regarding ground a walking direction; determining control patterns of the walk-assistive robot by analyzing the obtained ground information; and controlling the walk-assistive robot based on the determined control patterns.
    Type: Application
    Filed: August 28, 2014
    Publication date: May 14, 2015
    Inventors: Suk June YOON, Kyung Shik ROH, Young Bo SHIM, Young Do KWON, Sung Hwan AHN, Hyo Seok HWANG
  • ACTUATOR AND MANIPULATOR INCLUDING THE SAME
    Publication number: 20150122071
    Abstract: Disclosed is a manipulator including a wire driving actuator to bend base and terminal sections of a joint assembly in multiple directions by a base section wire and a terminal section wire. The terminal section driving wire is operatively connected to the base section driving wire such that the terminal section driving wire is moved by a distance equal to a movement distance of the base section driving wire. Accordingly, it is possible to prevent bending of the terminal section upon bending the base section.
    Type: Application
    Filed: November 4, 2014
    Publication date: May 7, 2015
    Inventors: Youn Baek LEE, Yong Jae KIM, Jeong Hun KIM, Kyung Shik ROH, Se Gon ROH, Jong Won LEE, Byung June CHOI
  • Robot and control method thereof
    Patent number: 9014854
    Abstract: A robot and a control method thereof. The robot has plural robot arms, each having at least one joint unit and a hand, and the control method includes dividing an object into target and feasible grasp regions and storing grasp policies respectively corresponding to the grasp regions, sensing respective orientations of the object, the at least one joint unit, and an obstacle, judging whether or not grasping of the target grasp region is feasible after sensing the orientations, generating a grasp route using the grasp policy for the target grasp region, upon judging that grasping of the target grasp region is feasible, and generating a grasp route using the grasp policy for one of the feasible grasp regions, upon judging that grasping of the target grasp region is not feasible, and controlling the at least one joint unit and the hand to trace the generated grasp route.
    Type: Grant
    Filed: September 14, 2011
    Date of Patent: April 21, 2015
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Myung Hee Kim, Kyung Shik Roh, Young Bo Shim, San Lim
  • Robot and method of controlling walking thereof
    Patent number: 9002512
    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.
    Type: Grant
    Filed: March 11, 2009
    Date of Patent: April 7, 2015
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Jae Ho Park, Kyung Shik Roh, Woong Kwon
  • Method and apparatus to generate object descriptor using extended curvature gabor filter
    Patent number: 8977040
    Abstract: A method and apparatus to generate an object descriptor using extended curvature gabor filters. The method and apparatus may increase a recognition rate of even a relatively small image with use of an extended number of curvature gabor filters having controllable curvatures and may reduce the amount of calculation required for face recognition by performing the face recognition using only some of the extended curvature gabor filters which have a great effect on the recognition rate. The object descriptor generating method includes extracting gabor features from an input object image by applying a plurality of curvature gabor filters, generated via combination of a plurality of curvatures and a plurality of Gaussian magnitudes, to the object image, and generating an object descriptor for object recognition by projecting the extracted features onto a predetermined base vector.
    Type: Grant
    Filed: August 8, 2011
    Date of Patent: March 10, 2015
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Won Jun Hwang, Kyung Shik Roh, Suk June Yoon
  • SURGICAL ROBOT AND CONTROL METHOD THEREOF
    Publication number: 20150066051
    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.
    Type: Application
    Filed: July 16, 2014
    Publication date: March 5, 2015
    Inventors: Young Do KWON, Kee Hong SEO, Kyung Shik ROH
  • Walking robot and control method thereof
    Patent number: 8958909
    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.
    Type: Grant
    Filed: October 24, 2011
    Date of Patent: February 17, 2015
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Min Hyung Lee, Kyung Shik Roh, Woong Kwon
  • POSITION RECOGNITION METHODS OF AUTONOMOUS MOBILE ROBOTS
    Publication number: 20150012209
    Abstract: In some example embodiments, a position recognition method of an autonomous mobile robot may include: dividing a grid map into a plurality of spaces; extracting, by a processor, learning data of each of the plurality of spaces; generating, by the processor, space models of each of the plurality of spaces using the extracted learning data; and/or recognizing, by the processor, a current position of the autonomous mobile robot based on the extracted learning data, the space models, and actual range scan data input through the autonomous mobile robot.
    Type: Application
    Filed: February 24, 2014
    Publication date: January 8, 2015
    Applicant: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Soon Yong PARK, Kyung Shik ROH
  • Apparatus for planning path of robot and method thereof
    Patent number: 8924016
    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.
    Type: Grant
    Filed: December 16, 2011
    Date of Patent: December 30, 2014
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Myung Hee Kim, Kyung Shik Roh, Young Bo Shim
  • Apparatus for estimating robot position and method thereof
    Patent number: 8903161
    Abstract: A method for estimating a location of a device uses a color image and a depth image. The method includes matching the color image to the depth image, generating a 3D reference image based on the matching, generating a 3D object image based on the matching, extracting a 2D reference feature point from the reference image, extracting a 2D reference feature point from the object image, matching the extracted reference feature point from the reference image to the extracted reference feature point from the object image, extracting a 3D feature point from the object image using the matched 2D reference feature point, and estimating the location of the device based on the extracted 3D feature point.
    Type: Grant
    Filed: December 21, 2012
    Date of Patent: December 2, 2014
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: No San Kwak, Kyung Shik Roh, Sung Hwan Ahn, Suk June Yoon, Seung Yong Hyung
  • ROBOT CONTROL METHODS
    Publication number: 20140343730
    Abstract: A robot control method of controlling a robot that has a flexible module including ‘n’ first nodes participating in pan motion and ‘n’ second nodes participating in tilt motion may include: measuring a translational motion distance, a pan motion angle, and a tilt motion angle of the flexible module; calculating state vectors of the ‘n’ first nodes and the ‘n’ second nodes using the measured translational motion distance; calculating operating angle distribution rates of the ‘n’ first nodes and operating angle distribution rates of the ‘n’ second nodes using the calculated state vectors of the ‘n’ first nodes and the calculated state vectors of the ‘n’ second nodes; and/or calculating operating angles of the ‘n’ first nodes and operating angles of the ‘n’ second nodes using the calculated operating angle distribution rates and the measured pan motion angle and tilt motion angle.
    Type: Application
    Filed: January 13, 2014
    Publication date: November 20, 2014
    Applicant: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Ji Young KIM, Kwang Kyu LEE, Woong KWON, Kyung Shik ROH, Ju Suk LEE, Seung Yong HYUNG
  • WIRE CONNECTION APPARATUS
    Publication number: 20140331798
    Abstract: A wire connection apparatus includes a link unit and a drive unit configured to drive the link unit. The link unit includes a first link, a second link rotatably coupled to the first link, a third link rotatably coupled to the second link, a plurality of wires, each of which is fixed at one end thereof to the third link, and is fixed at the other end thereof to the drive unit, and through which a driving force is transmitted from the drive unit to the third link, a path forming structure to form a path of each of the wires between the drive unit and the third link, and a length holding structure to hold constant a length of each of the wires between the drive unit and the third link.
    Type: Application
    Filed: May 6, 2014
    Publication date: November 13, 2014
    Applicant: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Young Bo Shim, Young Do Kwon, Byung June Choi, Yong Jae Kim, Kyung Shik Roh, Min Hyung Lee
  • ENDOSCOPE AND IMAGE PROCESSING APPARATUS USING THE SAME
    Publication number: 20140330078
    Abstract: An endoscope to acquire a 3D image and a wide view-angle image and an image processing apparatus using the endoscope includes a front image acquirer to acquire a front image and a lower image acquirer to acquire a lower image in a downward direction of the front image acquirer. The front image acquirer includes a first objective lens and a second objective lens arranged side by side in a horizontal direction. The lower image acquirer includes a third objective lens located below the first objective lens and inclined from the first objective lens and a fourth objective lens located below the second objective lens and inclined from the second objective lens.
    Type: Application
    Filed: September 19, 2013
    Publication date: November 6, 2014
    Applicant: Samsung Electronics Co., Ltd.
    Inventors: Won Jun HWANG, Kyung Shik Roh, Young Bo Shim, Suk June Yoon
  • SURGICAL TROCARS AND IMAGE ACQUISITION METHOD USING THE SAME
    Publication number: 20140330077
    Abstract: Surgical trocars, and image acquisition method using the same, include a body having a passage configured to receive at least one surgical instrument, and at least one camera movably coupled to an outer wall of the body.
    Type: Application
    Filed: January 13, 2014
    Publication date: November 6, 2014
    Applicant: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Suk June YOON, Kyung Shik ROH, Soon Yong PARK, Sung Hwan AHN, Ji Hyo LEE, Won Jun HWANG, Hyo Seok HWANG