Technology for Planning Collaborative Object Relocation by Multiple Manipulator Robots Based on Maximizing Task Handovers

This technology calculates independent object relocation plans for individual robots and aggregates them to create a collaborative plan that maximizes the number of task handovers, while also deriving unit task sequences and collision-free motion plans for the shortest possible execution time.

Object relocation using a single manipulator robot is inefficient in space-constrained environments, and there has been a lack of planning technology that allows multiple robots to collaborate effectively to relocate objects.

This technology proposes a step-by-step framework—individual planning → collaborative planning → task sequence determination → motion planning—to maximize task handovers between robots. It can be applied to multi-robot cells in smart factories and automated logistics lines, increasing collaboration efficiency and significantly reducing total task time.

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Key Features:

• A step of calculating independent object relocation task plans for individual robots to facilitate collaboration among multiple manipulator robots
• A step of aggregating individual robot task plans to calculate a collaborative plan that maximizes the number of task handovers
• A step of determining unit task sequences for multiple robots to execute the collaborative plan in the shortest possible time
• A step of establishing motion plans to ensure multiple robots execute task sequences without colliding with one another

Multilayer Soft Pneumatic Actuator with Stacking Chambers and Actuating Protrusions for Object Manipulation

This technology is a multilayer soft pneumatic actuator that manipulates gripped objects by applying horizontal force. It achieves this by independently injecting air into actuating protrusions on the surface layer and two stacked chamber layers, allowing for precise control of localized deformation.

Conventional robotic grippers are limited to simple grasping, making in-hand manipulation difficult. Meanwhile, multi-degree-of-freedom systems suffer from complex structures, high costs, and the need for complex control algorithms and object modeling.

This technology proposes a method of moving surface actuating protrusions by independently controlling the pneumatic pressure in two stacked chambers, thereby delivering tangential force to an object. It offers a new possibility for achieving in-hand manipulation without complex multi-joint structures, making it suitable for logistics picking, precision assembly, and object handling in service robots.

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Key Features:

• A surface layer featuring actuating protrusions on one side that contact an object to deliver horizontal force.
• A first chamber layer stacked on the other side of the surface layer, including a first chamber configured to overlap with the actuating protrusions in certain areas.
• A second chamber layer stacked on a different layer from the first chamber layer, configured to overlap with the actuating protrusions and the first chamber.
• An air line layer configured to independently inject air into the first and second chambers.

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of meta-soft organ module fabrication technology and module assembly robot systems, and from the Ministry of Science and ICT for the development of task design and control algorithms for intelligent autonomous disinfection robots.

Variable Posture-Maintaining Articulated Robot with Spring Balancer and Tension Adjustment for Payload Compensation

This technology is an articulated robot featuring a variable posture-maintaining function that adapts to changes in payload. It compensates for the gravitational torque acting on each link by transmitting tension generated from a spring balancer in the robot's main body to each rotating link via tension wires, with a tension adjustment unit to manage varying loads.

Conventional manual gravity compensation devices are designed for specific payloads, leading to degraded posture maintenance when the weight of the end-effector changes. Conversely, motor-based active compensation methods suffer from complex structures and high costs.

This technology proposes a system that uses a spring balancer with a coil spring and a tension adjustment unit to vary the compensation strength according to the payload. By arranging wires and reference rotating bodies across multiple links, it provides continuous compensation torque based on the angle of each joint. It can be applied to collaborative robots and industrial manipulators, maintaining posture under various load conditions while significantly reducing energy consumption.

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Key Features:

• A tension generation unit installed on the robot body that continuously generates tension for gravity compensation
• A rotating link unit coupled to rotate in the direction of gravity, where loads are generated in the direction of rotation
• A tension wire that transmits tension from the generation unit to the rotating link unit to maintain its rotational position
• A tension adjustment unit that regulates the magnitude of tension and an auxiliary torque compensation unit that provides supplemental compensation torque

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of a rail-less mobile welding robot to implement high-precision laser welding processes within LNG cargo tanks.

Indoor Magnetic Field Mapping System Combining Wheel Odometry and Magnetic Sensors

This technology is a magnetic field mapping system and device that generates magnetic field maps for indoor and outdoor spaces by estimating the position of a mobile object based on wheel rotation data and combining it with magnetic field intensity and direction data acquired via magnetic sensors at those positions.

Indoor and underground spaces are inaccessible to satellite navigation system signals, and existing communication network-based positioning methods have faced limitations in accuracy and errors depending on the density of base station installations.

This technology proposes a method of acquiring information, including wheel rotation angles, from a mobile object's encoder and selecting positions at preset intervals to measure magnetic field data, enabling the construction of precise magnetic field maps without the need for additional infrastructure. It can be utilized for positioning services in underground parking lots and large indoor facilities, as well as for logistics robot navigation, providing an economical solution to the problem of location recognition in GPS-denied areas.

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Key Features:

• A mobile object that travels within a space in response to wheel rotation and acquires wheel rotation data
• A magnetic field mapping device that determines position based on wheel rotation data and measures the magnetic field at that position
• A configuration that selects positions at preset intervals from among the positions calculated based on wheel rotation data
• Generates a magnetic field map of the space based on magnetic field data corresponding to the selected positions

Patient Transfer Robot with Spring-Cam Based Gravity Torque Compensation

This technology is a patient transfer robot that features a gravity compensation function. It uses spring elasticity combined with a cam or gear mechanism to physically reduce the load on the motors and reducers by compensating for the gravity torque acting on the robot's link structure.

Patient transfer robots typically require high-capacity motors and reducers to move heavy patients, which can lead to reduced collision safety, higher energy consumption, and shorter operating times.

This technology proposes a system where gravity torque compensators are installed on the central rotating unit and the first and second rotating arms. A reference plane maintenance unit ensures these components always point in the direction of gravity, allowing the slider and torque compensation spring to generate compensating torque based on varying angles to offset the load on the links. Suitable for nursing homes, hospitals, and home care settings, this system enables safe transfers using lower-capacity motors, thereby reducing both equipment costs and the risk of accidents.

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Key Features:

• A central rotating unit rotatably coupled to the robot body and a central area
• First and second rotating arms rotatably coupled to both ends of the central rotating unit
• Gravity torque compensators that provide compensation torque based on gravity to each of the first and second rotating arms
• Includes a reference plane forming unit that establishes first and second reference planes to generate compensation torque according to angular changes

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of human-centered smart dual-arm transfer assist robots.

Passive Dynamic Gripper for Aerial Vehicles Converting Impact Energy into Gripping Force

This technology is a passive dynamic gripper for aerial vehicles that automatically closes its claws to grasp an object by transferring the impact energy generated upon collision through a linkage structure and tendon mechanism.

Existing aerial vehicles, such as drones, have struggled to efficiently utilize the impact energy generated when interacting with objects without static approach, and have faced difficulties in immediately stabilizing their posture after grasping.

This technology proposes a mechanism that converts impact energy into claw-actuating force via tendons, and uses a tendon locking module—an electro-adhesive clutch—to rapidly maintain the claw's state. This allows for rapid object grasping during flight without the need for additional actuators. It can be applied to drone delivery, aerial retrieval operations, and securing supplies in disaster zones. Since grasping is achieved solely through impact without requiring additional drive power, it significantly reduces the payload and power burden on the aerial vehicle.

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Key Features:

• A linkage comprising an upper plate and a lower plate connected to move toward and away from the upper plate, upon which an object collides.
• A locking module housing disposed on both sides of the linkage to accommodate tendons, and pulleys around which the tendons are looped.
• Claws disposed on both sides of the lower part of the linkage, connected to one end of the tendons, and operating between an open and a closed position.
• A tendon puller hinge-mounted to the lower plate and connected to the other end of the tendons, and a locking module powered by an external source.

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This invention was developed with support from the Human-Centered Soft Robotics Technology Research Center of the Ministry of Science and ICT.

Micro-gripper driven by photo-induced heating of shape memory alloy and optical fiber

This technology is a micro-gripper mechanism that connects an optical fiber to a gripper made of shape memory alloy, driving and deforming the gripper through Joule heating generated by light transmitted from a light source.

Conventional micro-grippers suffer from complex driving structures that make manufacturing difficult, as well as structural inconveniences requiring separate power supplies and high power consumption.

This technology proposes a structure that can be operated without separate electrical wiring by delivering heating energy to the gripper via light irradiation through an optical fiber. By using a Nitinol shape memory alloy gripper processed with a focused ion beam and a photocurable polymer adhesive, both miniaturization and precision manipulation are achieved. It offers a wireless-driven gripper for ultra-precision tasks such as semiconductor processing, bio-sample manipulation, and micro-assembly, opening new possibilities for micro-scale automation.

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Key Features:

• A gripper unit made of shape memory alloy that can grasp minute objects by deforming under light energy
• An energy supply unit that converts light transmitted through an optical fiber into Joule heat to supply energy to the gripper unit
• An optical fiber formed in a tubular shape with an internal passage for light transmission
• An adhesive unit provided between the optical fiber and the gripper unit to bond the gripper to the optical fiber

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This invention was developed with support from the Ministry of Science and ICT for the nanoscale 3D printing system.

Vibration-Damping Neck Device for Legged Mobile Robots Combining a Shock Absorber and a Tunable Mass Damper

This technology is a shock-absorbing and vibration-damping neck device designed to stabilize sensor data for legged mobile robots. It features a linkage-based shock absorber and a tunable mass damper mounted on a sensor platform, which adjusts the absorption frequency in real-time by controlling the position of a linear stepping motor based on the robot's gait frequency.

Legged mobile robots often experience periodic shocks and vibrations during locomotion that resonate with the sensor platform, causing motion blur and reducing the accuracy of visual and inertial navigation. Conventional passive vibration-damping devices have struggled to adapt to changes in a robot's walking speed.

This technology utilizes a multi-joint linkage structure with hydraulic dampers and springs to absorb primary shocks. It further incorporates a tunable mass damper that adjusts the distance of the mass body via a torsion spring and linear stepping motor control. By actively varying the vibration-damping frequency to match the robot's gait, it ensures clear sensor data. This technology fundamentally enhances the perception performance of quadrupedal and patrol/inspection robots, serving as a critical component for reliable autonomous navigation in legged robots.

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Key Features:

• A shock absorber fixed to the body of a legged mobile robot, where multiple legs support the body, to absorb shocks and vibrations.
• A sensor platform coupled to the shock absorber, equipped with cameras and an inertial measurement unit (IMU) to collect sensor data during operation.
• A tunable mass damper mounted on the sensor platform that adjusts the absorption frequency for shocks and vibrations caused by movement.
• A structure where the shock absorber and tunable mass damper reduce shocks and vibrations transmitted to the sensor platform, minimizing movement and rotation.

Robot Joint with 3-DOF Rotation and Flexibility via Tensegrity Strings

This technology features a robot joint structure based on tensegrity principles. Multiple bodies (first through third) are connected by a series of string members without direct contact, enabling 3-DOF (pitch, yaw, roll) rotation and flexibility against external forces.

Conventional rigid-body robot joints are prone to damage from external impacts, struggle to achieve flexibility along the axis of rotation through control methods alone, and suffer from friction and wear due to contact between rigid parts, as well as increased weight that makes long-term wear uncomfortable.

This technology implements a tensegrity structure by arranging three bodies in a non-contact configuration and utilizing string members in square pyramid, rhombus, and octahedron patterns. The first through third bodies are made of elastic materials, and bearings are installed at the rotation axis anchor points to prevent friction and wear. By separating the drive unit externally, the weight of the joint is significantly reduced. This design is ideal for robotic shoulders, collaborative robots, and wearable robots, providing flexible response to external impacts while minimizing joint weight.

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Key Features:

• String members that connect the first body to the second, and the second to the third, enabling the first through third bodies to form a tensegrity structure.
• A robot joint where multiple second string members connect the other side of the first body to the other side of the second body, forming a rhombic structure.
• A third body provided on the other side of the second body (which has the first body on one side), configured to remain in a non-contact state with the second body.
• A second body provided on one side of the first body, configured to remain in a non-contact state with the first body.

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This invention was developed with support from the Ministry of Science and ICT for the Tensegrity Robot System using Pneumatic and Tendon Hybrid Actuation.

Robot gripper compliant with environmental constraints via force vector control of a four-bar linkage

This technology performs a pinch-grip motion with the fingertips by transmitting rotational torque from the drive unit through a four-bar linkage and connecting links. By adjusting the link length ratios of the four-bar mechanism, it controls the force vector direction applied to the fingertips, allowing the robot gripper to adapt to external environmental constraints, such as a table surface.

Conventional grippers often fail to account for collisions between the fingertips and environmental obstacles, such as tables, during pinch-gripping, which limits their ability to stably grasp small objects.

This technology configures the length ratios of the four-bar linkage (input, output, intermediate, and frame links) so that the force vector applied to the fingertips acts in a direction that lifts or lowers the object. Additionally, it incorporates a parallelogram linkage to maintain the fingertip angle and utilizes an elastic member and stopper between the output link and the frame link to ensure adaptive grasping. Suitable for logistics picking, precision assembly, and service robots, it enables stable grasping of small objects without colliding with surrounding constraints like tables.

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Key Features:

• A third link, where the other end in the longitudinal direction is connected to the axis where the first and second links are joint-coupled, and is provided integrally with the second link in a 'V' shape.
• A robot gripper comprising a fifth link that is joint-coupled to the other longitudinal end of the fourth link, with its own other longitudinal end connected to the fingertip.
• An output link that faces the input link, with one longitudinal end connected to one longitudinal end of the connecting link.
• An intermediate link connected between the other longitudinal end of the input link and the other longitudinal end of the output link.

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This invention was developed with support from the Ministry of Science and ICT for the development of biomimetic bionic arm mechanisms.

Exoskeleton Robotic Arm with Shoulder-Mounted Actuators and a 4-Bar Linkage Transmission Structure

This technology features a robotic arm that concentrates both the upper and lower arm actuators at the shoulder base. It utilizes a 4-bar linkage assembly, consisting of a transmission link and two link units, to transfer the rotational force of the lower arm actuator to the elbow axis, allowing for independent or synchronized control of the upper and lower arm.

Conventional technology typically places actuators directly on the elbow joint, which leads to reduced control responsiveness as the end-effector load increases and complicates wiring design.

By centralizing the actuators at the base and transmitting physical power through a linkage assembly, this technology reduces the end-effector load and improves control responsiveness. It can be applied to wearable upper-limb assistive robots, rehabilitation training equipment, and collaborative robotic arms, enabling precise joint control while minimizing the burden on the user through a lightweight end-effector structure.

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Key Features:

• A base positioned at the robot's shoulder, with the lower arm actuator installed at the rear and the upper arm actuator installed at the front.
• An upper arm frame with its upper end rotatably installed at the front of the base, rotating according to the operation of the upper arm actuator.
• A lower arm frame with its rear end rotatably installed at the lower end of the upper arm frame via an elbow axis, allowing for relative rotation.
• A linkage assembly where a transmission link, a first link unit, and a second link unit are connected in a 4-bar structure to transmit driving force.

Human-Robot Collaboration State Monitoring Technology Using Low-Pass and High-Pass Filter Frequency Analysis

This technology is a monitoring method that determines in real-time whether a human-robot collaboration state is safe within a specific frequency band by passing multi-degree-of-freedom force signals through low-pass and high-pass filters and comparing the Euclidean norm values of each output signal.

Existing DFT-based frequency analysis techniques require large amounts of sampling data to achieve low frequency resolution, making it impossible to recognize collaboration states quickly within 0.5 seconds, which can lead to safety issues such as skin plastic deformation during collisions.

Instead of DFT, this technology separates frequency components using a 2nd-order IIR Butterworth filter and calculates the collaboration state value through median calculation using the ratio between filter outputs, derivative filter smoothing, and saturation processing. It can be applied to the safety control of collaborative robots and wearable robots, dramatically increasing operator safety through immediate risk detection within 0.5 seconds.

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Key Features:

• A method for monitoring collaboration states through frequency analysis in environments where humans and robots physically collaborate
• A step of acquiring multi-degree-of-freedom force signals to distinguish between intended and unintended human movements
• A step of acquiring collaboration state values based on multi-degree-of-freedom force signals using low-pass and high-pass filters
• A step of acquiring intermediate values used for obtaining collaboration state values based on the multi-degree-of-freedom force signals that have passed through each filter

Military Driving Assembly Convertible Between Wheels and Tracks Based on Terrain

This technology relates to a variable driving assembly for military robots, specifically a driving device capable of mechanically switching between standard road driving mode and rough terrain driving mode.

Military robots previously required a choice between wheel and tracked systems depending on the mission environment; however, relying on a single method imposed significant operational limitations, as it could not simultaneously satisfy the requirements for high-speed driving on paved roads and traversing rough terrain.

This technology implements two driving modes on a single platform by modifying the wheel configuration through variable links and a variable driving force supply unit. This significantly enhances adaptability to diverse driving conditions.

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Key Features:

• An inner frame and a plurality of driving wheels rotatably provided on the inner frame
• An outer frame provided around the perimeter of the inner frame and a pair of tracks provided to circulate on both sides
• A driving force supply unit that selectively provides driving force to at least one of the driving wheels or the tracks
• A variable link connecting the outer frame to adjust its relative height and a variable driving force supply unit that provides variable driving force

Biomimetic Lightweight Wearable Suit

This technology relates to a biomimetic lightweight wearable suit and its design method, featuring an assistive suit that optimizes force transmission paths by mimicking human anatomical structures and physical properties.

Conventional exoskeleton devices are often heavy and bulky, making them uncomfortable for daily use, while their rigid frames restrict joint movement and reduce overall comfort.

By aligning force transmission patterns and anchor points with human muscle and tendon structures, this technology achieves a lightweight, flexible design that enhances walking and mobility efficiency. It is applicable to various assistive devices, including ankle exoskeletons.

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Key Features:

• A suit section that provides 3D coverage from the knee to the sole of the foot, featuring openings for the knee and heel.
• A force transmission pattern section that mimics human tendons, wrapping around joints and muscles to distribute actuator force across the garment and the body.
• An anchor point section designed to mimic human ligaments, positioned around the knee to support the joint.
• The force transmission pattern is made of non-elastic material and features a Y-shaped design extending from the back of the knee, down the calf, to the ankle.

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of a human-augmentation hybrid robot suit capable of a 100m sprint in 7 seconds and 12 hours of comfortable wear; the Ministry of Agriculture, Food and Rural Affairs for the development of a deep-learning-integrated smart wearable suit to assist forest workers with muscle strength, injury prevention, and work efficiency; and for the development of soft wearable robot suits to assist the gait of the elderly and Parkinson's patients.

Drive Module Control System Based on Coaxial Magnetic Gears Using Rotor Electrical Phase Difference Control

This technology is a system that calculates the current electrical phase difference between rotors in a coaxial magnetic gear drive module equipped with a motor and multiple rotors, and controls the motor to a target torque by adjusting the rotation angle of one of the rotors to converge on a target phase difference.

Conventional reduction mechanisms suffer from wear due to mechanical contact, leading to high maintenance costs, while existing non-contact power transmission mechanisms have limitations in terms of torque control performance and stability.

This technology proposes a method that linearizes the non-linearity of magnetic gears by combining a disturbance observer with a non-contact power transmission structure that utilizes the magnet arrangement of inner and outer rotors. It can be applied to small robots and collaborative robot drive systems, enabling precise torque control while reducing maintenance costs through wear-free, sealed power transmission.

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Key Features:

• A drive module comprising a motor and a structure with multiple rotors mechanically coupled to the motor
• An inner bearing coupled to a shaft and an inner rotor surrounding it that includes a first magnet
• An outer rotor coupled in a surrounding configuration at a set distance from the inner rotor, including a second magnet
• A control module that calculates the current electrical phase difference of the rotors and adjusts the rotation angle to converge on a target phase difference

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This invention was developed with support from the Ministry of Science and ICT for research on the design and control of non-contact active small continuous variable transmission mechanism modules for ideal robot operation.