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    Method and apparatus for controlling behavior of service robot
    17.
    发明授权
    Method and apparatus for controlling behavior of service robot 有权

    公开(公告)号：US11602854B2

    公开(公告)日：2023-03-14

    申请号：US16662287

    申请日：2019-10-24

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Taesin Ha ,  Kyung-Rock Kim ,  Jun-Won Jang ,  Joon-Kee Cho

    IPC: B25J9/16 ,  B25J11/00

    Abstract: A method and apparatus for controlling an operation of a service robot is disclosed. The method includes measuring, by processing circuitry, an evaluation index of the service robot based on sensor data in a service mode; determining, by the processing circuitry, an operation mode of the service robot from a set of at least two operation modes based on the measured evaluation index; selecting, by the processing circuitry, a behavior to be applied to the operation of the service robot from a set of at least two behaviors based on the operation mode; and controlling, by the processing circuitry, the operation of the service robot based on the behavior.

    Method and apparatus for generating local motion based on machine learning
    18.
    发明授权
    Method and apparatus for generating local motion based on machine learning 有权

    公开(公告)号：US11442455B2

    公开(公告)日：2022-09-13

    申请号：US16672987

    申请日：2019-11-04

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Joon-Kee Cho ,  Kyung-Rock Kim ,  Taesin Ha

    IPC: G05D1/02 ,  G05B13/02

    Abstract: Apparatuses and methods for generating a local motion of a mobile object based on a machine learning are disclosed. The methods may include determining, by processing circuitry, a local window corresponding to a current position of the mobile object in a global area; generating, by processing circuitry, a local cost map indicating a probability of a collision of the mobile object with an obstacle in the local window; generating, by processing circuitry, a local goal map indicating a local path in the local window between the current position and a local goal in the local window; and determining, by processing circuitry, a target velocity of the mobile object based on output data of a neural network, the output data based on an input of input data to the neural network, the input data including the local cost map, the local goal map, and a current velocity of the mobile object.

    Motion assistance apparatus and control method of the same
    19.
    发明授权
    Motion assistance apparatus and control method of the same 有权

    公开(公告)号：US10350091B2

    公开(公告)日：2019-07-16

    申请号：US15047842

    申请日：2016-02-19

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Taesin Ha

    IPC: A61H1/02 ,  A61F2/60 ,  B25J9/00 ,  B25J13/08 ,  A61H3/00

    Abstract: Example embodiments relate to a control method of a motion assistance apparatus including a fixing module attached to a user, a driving module fixed to the fixing module to generate rotation power, a supporting module configured to support a portion of a body of the user and driven by the driving module, a force sensor configured to measure a magnitude of force applied to the fixing module, and a controller configured to control the driving module, the method including generating, by the driving module, a driving torque to drive the supporting module, measuring a direction and a magnitude of force indicated by the force sensor, calculating a compensation torque to minimize the measured magnitude of force, and driving the driving module by adding the compensation torque to the driving torque.

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