This technology is a path post-processing algorithm that determines optimal, collision-free joint configurations in real time by parallelizing the search for all possible joint combinations across multiple sub-paths, thereby efficiently improving the manipulator's motion trajectory.
Existing adaptive partial shortcut (APSC) techniques sample and select a fixed number of joints during iterative path refinement, which leads to increased computation time as iterations grow and makes it difficult to respond to dynamic environments.
This technology divides the manipulator's motion path into multiple sub-paths and performs parallel computations on all possible joint combinations for each sub-path to select and apply the optimal configuration in real time, maximizing path refinement efficiency. Applicable to logistics transport, service robots, and autonomous platforms, it reduces total computation time and enables parallel processing in dynamic environments, improving path generation efficiency for high-degree-of-freedom robot manipulators.
This invention was developed with support from the Ministry of Science and ICT's Human-Centric CPS research program.
This technology is a system where multiple autonomous robots (for coating, loading, transporting, installing, and charging) collaborate to install floor finishing materials. It features precise positioning using 3D localization devices and active markers, as well as a high-precision installation mechanism based on vision-sensor-driven obstacle avoidance and floor surface recognition.
Relying solely on manual labor for the transport and installation of increasingly large and heavy construction materials results in low work efficiency. Existing remote-controlled robots are limited by the operator's line of sight, making fine adjustments difficult, and the high rate of human error on construction sites poses significant safety risks.
This technology establishes an autonomous robot swarm control system. A 3D localization device transmits positional data to the robots via active markers, while a manipulator structure—combining floor-sensing sensors and vertical/horizontal arms—precisely installs finishing materials according to the floor's coordinate system. By improving the efficiency and safety of material installation on construction sites, this system can also be adapted for rehabilitation training, gait assistance, and various medical and welfare services.
This invention was developed with support from the Ministry of Science and ICT for the development of intelligent painting and masking collaborative robots.
This technology is a Series Elastic Actuator (SEA) structure that measures torque and controls rotation angle without changes to the moment arm by utilizing wire tension during relative rotation between a first body (including a motor) and a second body. The wire's center is wound around a pulley seat, with both extended ends connected to preloaded first and second springs and adjustment devices.
Conventional series elastic actuators suffer from difficulties in accurate torque measurement and control because the spring is positioned between the output stage and the link, causing the spring to bend or rotate during deformation, which alters the moment arm.
This technology maintains a constant moment arm by securing the center of the wire to the outer circumference of the pulley and supporting the extended ends through a preloaded spring system within the second body. It establishes a structure that allows for precise control and measurement of wire tension via adjustment devices and a housing design. Applicable to robotic gripping, precision measurement, and automation equipment, it improves torque measurement accuracy and facilitates torque measurement based on external forces.
This invention was developed with support from the Ministry of Science and ICT for the commercialization of immersive human-robot multi-sensory interaction technology.
This technology is an integrated management system that utilizes a rail-based mobile platform to continuously monitor facilities within underground utility tunnels and deploys precision inspection and maintenance robots when hazardous areas are detected.
Existing single-robot systems struggle with precision inspections due to the extensive length of underground utility tunnels and are limited to basic monitoring, making them incapable of performing complex facility maintenance tasks.
This technology deploys continuous inspection robots, precision inspection robots, and fire suppression robots along a rail system. A control server identifies hazardous areas and automates precision scanning and maintenance using specialized tools. Applicable to robotic gripping, precision measurement, and automated equipment, it enables remote monitoring, predictive maintenance, and repairs for power lines, communication cables, and various piping systems, thereby enhancing the efficiency and safety of underground utility tunnel maintenance.
This invention was developed with support from the Ministry of Science and ICT's AI-based Anti-Drone Active Control Technology Development project.
This technology precisely calibrates the position of a robot arm's end-effector by using external sensors to track markers attached to the arm and a fixed reference marker, calculating the error between the robot arm's real-time displacement and the sensor data.
In industrial robotics, calibrating the position of a robot arm often requires cumbersome manual teaching or the input of separate setup devices, and errors occurring during the teaching process have historically made high-precision tasks difficult to perform.
This technology simultaneously senses a ring-shaped first marker attached to the robot arm and a second marker serving as an external reference point using an external sensor unit. By comparing the robot arm's actual operational displacement with the changes in marker position and performing geometric calculations, it derives position calibration values for the end-effector. Applicable to robotic gripping, precision measurement, and automated equipment, it improves the accuracy of positioning a robot arm in free space using markers and sensor units.
This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of intelligent controller technology applicable to various multi-joint commercial robots and specialized for bin-picking and loading/unloading tasks.
This technology is a control and kinematic operation system for a towing-type robot, where an autonomous transport robot (100) loaded with flooring materials is towed by an autonomous working robot (200), which then receives the materials sequentially from the transport robot to automatically install them onto the floor surface.
Existing construction robots are limited to specific tasks, resulting in low versatility. Furthermore, because a single robot is responsible for both transport and installation, work efficiency is reduced, and the lack of specialized sensor modules for floor construction limits their practical application in the field.
This technology involves building a robot system where the transport robot’s material supply mechanism (lift drive and supply unit) pushes the bottom-most material to the working robot’s gripper module (arm). The two robots are connected by a coupling link and move together, performing sensor-fusion-based driving control and real-time installation inspection. Applicable to logistics, service robots, and autonomous platforms, this system improves construction safety by isolating workers from high-risk tasks, enhances construction productivity, and reduces the incidence of musculoskeletal disorders.
This invention was developed with support from the Ministry of Science and ICT for the development of intelligent painting and masking collaborative robots.
This technology is a system that connects an autonomous transport robot (including a loading bay) and an autonomous work robot equipped with a gripper module using a variable-length coupling link. It features a mechanical coupling and control mechanism that allows the work robot to approach the transport robot, extract finishing materials, and move to install them onto floor leveling materials.
Existing construction robots faced limitations in field application due to task-specific constraints, reduced work efficiency, and a lack of sensor modules for floor installation.
This technology designs a structure for precise material extraction by controlling the distance between the two platforms through the variable-length function of the coupling link. By integrating a gripping mechanism based on arm parts and embossing protrusions, along with motion control and inspection sensor modules, it automates autonomous installation and quality checks. Applicable to logistics, service robots, and autonomous platforms, it enhances construction efficiency and safety by automating tasks and reducing the need for manual labor in high-risk activities.
This invention was developed with support from the Ministry of Science and ICT for the development of intelligent painting and masking collaborative robots.
This technology features a cube-shaped robot body and a mobile platform as its core modules. It allows for flexible adaptation to construction sites by modularly attaching and detaching components such as articulated arms, lift arms, and drive modules via first and second interfaces located on each side of the unit.
Existing construction robots are often limited to specific tasks, resulting in low versatility. Furthermore, the need to operate separate dedicated robots for each process leads to excessive development and investment costs.
This technology enables the selective attachment of work modules to the sides of the robot body and drive modules to the mobile platform via specialized interfaces. It includes autonomous navigation using real-time positioning data and floor-marker-based installation positioning. Applicable to logistics, service robotics, and autonomous platforms, this system improves the adaptability of construction robots to various tasks and environments, while reducing development costs and investment risks, ultimately enhancing productivity and safety.
This invention was developed with support from the Ministry of Science and ICT for the development of intelligent painting and masking collaborative robots.
This technology provides a geometric method for numerically calculating the workspace of multi-degree-of-freedom robots. It simplifies high-degree-of-freedom robot models into lower-degree-of-freedom models by representing certain links as a single virtual link (pseudo-arm) and applies the Jacobian determinant to determine the boundaries and union of the workspace.
Due to the lack of existing technologies for effectively calculating the workspace of planar robots with 3 or more degrees of freedom or spatial robots with 4 or more degrees of freedom, there are limitations in real-time safety monitoring and collision avoidance control for these robots.
This technology replaces multiple links with a virtual "pseudo-arm" connecting the origin to the end joint. It models the system as a 2-DOF planar or 3-DOF spatial robot based on its kinematic structure and uses the Jacobian matrix to numerically calculate the workspace based on the maximum and minimum length variations of the links. Applicable to industrial robots and automation systems, this method improves operational efficiency and safety by providing a precise way to calculate robot workspaces.
This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of functional safety implementation technology and risk assessment/reduction technology based on international standards for robots operating in human-contact environments.
This technology implements a multi-joint link structure that provides 6-DOF compliance, along with a strain sensor-based joint device for control and measurement. Stiffness can be adjusted through a combination of rotational, universal, and ball joints, while structural yielding is prevented by limiting displacement with stoppers.
Torque sensors used in conventional robot joints are costly and complex, while simple compliance devices struggle with precise force/displacement measurement or active misalignment compensation.
This technology provides physical compliance by placing multiple flexible links between a first and second plate, and calculates displacement and force/moment by attaching strain sensors to each link. It incorporates a mechanical structure that prevents link damage by limiting allowable displacement via stoppers. Applicable to robotic gripping, precision measurement, and automation equipment, it prevents sensor damage and enables feedback control, thereby improving the accuracy and efficiency of assembly processes.
This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of a smart gripper with built-in force/torque sensing and object recognition, designed for easy implementation in manufacturing environments.
This technology provides a two-stage collaborative construction automation system in which an autonomous transport robot loads and supplies flooring materials, which are then received and installed onto the floor surface by a connected autonomous work robot.
Existing construction robots are limited to specific tasks, resulting in low versatility. Furthermore, because a single robot performs both transport and installation, work efficiency is reduced, and the lack of sensors for floor construction limits practical on-site application.
This technology features two robots connected by a coupling link that synchronize supply height and installation tasks through communication. It is equipped with sensor modules for autonomous navigation, motion control, and floor inspection, enabling autonomous driving and the alignment/inspection of flooring materials. Applicable to logistics, service robotics, and autonomous platforms, this system automates and robotizes construction processes, reducing manual labor and potential hazards while improving productivity and safety in the construction sector.
This invention was developed with support from the Ministry of Science and ICT for the development of intelligent painting and masking collaborative robots.
This technology is a registration control method that utilizes C-arm X-ray images to generate a multi-stage transformation matrix between the surgical robot's ring frame coordinate system and the patient's bone fragment coordinate system, precisely estimating the relative positional relationship between the robot and the patient through 2D/3D registration and PnP algorithms.
Existing fracture reduction surgeries have faced issues such as the need for expensive additional equipment like markers and probes due to the use of 3D position trackers, increased complexity of the surgical environment, and low precision when using conventional 2D/3D registration methods based on X-ray imaging.
This technology involves attaching metal bead-type jigs to a ring frame fixed to the bone fragment to serve as feature points on X-rays. It performs registration between the X-ray imaging device and the robot jig (2-stage transformation) and between the X-ray imaging device and the bone fragment (1-stage transformation), respectively. Finally, it derives a coordinate transformation matrix between the robot and the bone fragment, enabling registration of robot and patient coordinates without a 3D position tracker. It can be applied to surgical robots, interventional systems, and medical automation, thereby improving the precision of Y-matching and minimizing unnecessary equipment in fracture surgery procedures.
This invention was developed through the Ministry of Education's support for fracture surgery navigation via image-based 3D fracture modeling.
This technology is an upper limb assistive mechanism that secures only the user's forearm without requiring the alignment of the human upper limb and robot joint axes. It achieves gravity compensation and 6 degrees of freedom through two series elastic actuator (SEA)-based rotation axes.
Previous challenges included slippage, discomfort, increased design complexity, and the physical difficulty of aligning joint axes due to individual differences and the mismatch between human upper limb joint degrees of freedom and robot joints.
This technology features a mechanism that secures only the user's forearm and positions the robot's joint axes externally. By using wire-pulley-based rotary series elastic actuators, it measures torque from external forces and performs gravity compensation. Applicable to rehabilitation training, gait assistance, and medical/welfare services, it resolves physical compatibility issues to enhance the user experience, providing a comfortable and safe interaction.
This invention was developed with support from the Ministry of Science and ICT for the commercialization of immersive human-robot multi-sensory interaction technology.
This technology is an autonomous multi-purpose work system where a transport robot and a work robot are connected by a coupling link to move in a towing configuration, and a gripper module extracts floor finishing materials from a storage unit to install them sequentially onto the floor leveling material.
Existing construction robots are limited to specific tasks, resulting in low versatility. Furthermore, the lack of integration between material transport and installation processes reduces work efficiency, and insufficient sensors for environmental awareness limit their practical effectiveness.
This technology features a towing structure via coupling links between mobile platforms, a gripper module composed of vertical/horizontal supports and a sliding arm, a multi-sensor module for environmental and installation status recognition, and a contact mechanism combined with a light-source marker-based positioning algorithm for precise floor material alignment. Applicable to logistics, service robots, and autonomous platforms, it enhances the speed and efficiency of building finishing work through the adoption of construction automation and robotics.
This invention was developed with support from the Ministry of Science and ICT for the development of intelligent painting and masking collaborative robots.
This technology is a robust control system that resolves robot singularity issues by converting Cartesian coordinates into rotational coordinates and estimates internal and external disturbances using a disturbance observer based on the dynamic model of flexible joints, reflecting them in the control input.
Conventional linear system-based disturbance observers suffer from performance fluctuations depending on robot movement, necessitating conservative design, and their operational range is limited due to control divergence when singularities occur within the workspace.
This technology utilizes a Jacobian transpose matrix to transform coordinate systems and designs a nonlinear disturbance observer that includes a determinant to eliminate inter-joint reaction forces, thereby achieving consistent control performance and singularity avoidance regardless of changes in robot posture. It can be applied to rehabilitation training, gait assistance, and medical/welfare services, maximizing the workspace and improving robot performance and efficiency by achieving high performance and stability across various fields.
This invention was developed with the support of the Ministry of Trade, Industry and Energy's technology development project for interoperable modular muscle-assist exosuits.
