Abstract: Disclosed are a method and apparatus for providing a game. The method according to an embodiment of the disclosure comprises providing an item selection page displaying a plurality of selectable items to a plurality of users when at least one round ends in a game mode in which game characters of the plurality of users engage in battle over a plurality of rounds, obtaining item selection information for at least one item among the plurality of selectable items from each of the plurality of users, and applying an effect of an item selected by each of the plurality of users to each of the game characters of the plurality of users in a round subsequent to the at least one round.

Abstract: In an apparatus for adjustable counterbalance mechanism and a method for controlling the apparatus, the apparatus includes a reference surface, a link, an elastic member, a wire, an idle roller and a compensation torque. The link has a first end rotationally connected to the reference surface to form a rotational center, and a weight center of the link is spaced apart from the rotational center. The elastic member has a first end combined with the link. The wire has a first side combined with a second end of the elastic member, and a second side combined with the reference surface. The idle roller is combined with the link to support a portion between first and second ends of the wire. The compensation torque controller is equipped to the link, to control the position of the idle roller and an elastic force of the elastic member.

Abstract: A passive compliance gripper includes a passive compliance part, a displacement measuring element and a gripper mount. A first end of the passive compliance part is fixed, and a second end of the passive compliance part is configured to be transformed. The displacement measuring element is equipped to the passive compliance part, and measures displacement due to transformation of the passive compliance part. The gripper mount is connected to the second end of the passive compliance part, and has a gripper part gripping a component.

Abstract: A passive compliance gripper includes a passive compliance part, a displacement measuring element and a gripper mount. A first end of the passive compliance part is fixed, and a second end of the passive compliance part is configured to be transformed. The displacement measuring element is equipped to the passive compliance part, and measures displacement due to transformation of the passive compliance part. The gripper mount is connected to the second end of the passive compliance part, and has a gripper part gripping a component.

Abstract: In an apparatus for adjustable counterbalance mechanism and a method for controlling the apparatus, the apparatus includes a reference surface, a link, an elastic member, a wire, an idle roller and a compensation torque. The link has a first end rotationally connected to the reference surface to form a rotational center, and a weight center of the link is spaced apart from the rotational center. The elastic member has a first end combined with the link. The wire has a first side combined with a second end of the elastic member, and a second side combined with the reference surface. The idle roller is combined with the link to support a portion between first and second ends of the wire. The compensation torque controller is equipped to the link, to control the position of the idle roller and an elastic force of the elastic member.

Abstract: The present invention relates to a hollow driving module comprising a hollow driving module including a hollow motor including a stator, a rotor rotating with respect to the stator and having a perforated center portion, and a rotation shaft disposed at and coupled to the perforated center portion of the rotor; a decelerator connected with the rotation shaft positioned at an output side of the hollow motor to decelerate rotation of the rotation shaft; a torque transmission unit being connected to an output side of the decelerator to be driven by a decelerated rotation angle; a first encoder positioned at an input side opposite to a side connected with the decelerator of the hollow motor; a second encoder positioned at a side opposite to a side connected with the hollow motor of the first encoder; and a link connection means connecting the second encoder with the torque transmission unit.

Abstract: There is provided a method of post-correction of a 3D feature point-based direct teaching trajectory, which improves direct teaching performance by extracting shape-based feature points based on curvature and velocity and improving a direct teaching trajectory correction algorithm using the shape-based feature points. Particularly, there is provided a method of post-correction of a 3D feature point-based direct teaching trajectory, which makes it possible to extract and post-correct a 3D (i.e., spatial) trajectory, as well as a 2D (i.e., planar) trajectory, with higher accuracy.

Abstract: The present invention relates to a hollow driving module comprising a hollow driving module including a hollow motor including a stator, a rotor rotating with respect to the stator and having a perforated center portion, and a rotation shaft disposed at and coupled to the perforated center portion of the rotor; a decelerator connected with the rotation shaft positioned at an output side of the hollow motor to decelerate rotation of the rotation shaft; a torque transmission unit being connected to an output side of the decelerator to be driven by a decelerated rotation angle; a first encoder positioned at an input side opposite to a side connected with the decelerator of the hollow motor; a second encoder positioned at a side opposite to a side connected with the hollow motor of the first encoder; and a link connection means connecting the second encoder with the torque transmission unit.

Abstract: There is provided a method of post-correction of a 3D feature point-based direct teaching trajectory, which improves direct teaching performance by extracting shape-based feature points based on curvature and velocity and improving a direct teaching trajectory correction algorithm using the shape-based feature points. Particularly, there is provided a method of post-correction of a 3D feature point-based direct teaching trajectory, which makes it possible to extract and post-correct a 3D (i.e., spatial) trajectory, as well as a 2D (i.e., planar) trajectory, with higher accuracy.