IPL Robotic Sterilizer with Motion-Linked Pulsed Light Output Control

This technology is an IPL robotic sterilizer and IPL sterilizer that controls sterilization energy density during operation by sensing the rotational speed and direction of the drive wheels to differentially apply first and second pulse voltage sets.

Conventional UV sterilization devices have long sterilization times and are harmful to humans, while simple IPL irradiation methods have suffered from uneven sterilization efficiency, delaying their widespread adoption.

This technology implements active control where a controller adjusts unit pulse voltage, application time, cycle, and pulse width based on movement speed, direction, and rotation status, while optimizing the irradiation area through a light guide unit. It can be applied to disinfection robots in hospitals and public facilities, ensuring uniform sterilization performance regardless of travel speed.

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Key Features:

• The body of an IPL robotic sterilizer that sterilizes surfaces by irradiating them with pulsed light, and a drive unit for moving it
• A drive unit including a first drive wheel and a second drive wheel positioned on either side of the body
• Sensors that detect properties associated with the rotation of the first drive wheel and properties associated with the rotation of the second drive wheel
• An IPL unit disposed on the body that outputs pulsed light with a wavelength including the visible light spectrum

Building Maintenance Robot

This technology is a robotic system for building maintenance that measures the luminance and depth information of a structure via a vision module, identifies protrusions, depressions, and cracks using a control module, and independently operates chipping (removal), injection (filling), and sealing modules.

Existing construction robots are primarily specialized for the construction phase, and there is a lack of professional automated equipment and technology capable of performing maintenance on aging or poorly designed structures.

This technology is an integrated building management solution that automatically detects protrusions (chipping), depressions (injection), and cracks through vision data analysis. It specifically prevents damage to rebar by using color analysis to determine if rebar is present within a protrusion, and controls robot positioning and work tools via movement and manipulation modules. It can be applied to robotic gripping, precision measurement, and automated equipment, thereby improving the efficiency of building management by automating tasks such as defect detection and repair.

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Key Features:

• A control module that determines protrusions or depressions in a structure using measured luminance values or depth information.
• A vision module for measuring the depth information of a structure using laser sensors or stereo vision.
• A chipping module for removing protrusions identified by the control module.
• A building maintenance robot that removes protrusions while avoiding rebar if it is detected.

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This invention was developed with support from the Ministry of Knowledge Economy for the development of remote operation service engines for remote tasks and force-feedback remote-controlled robot system technology.

Non-stop Battery Swapping System

This technology is a non-stop battery swapping system that physically releases and engages battery locking mechanisms (locking protrusions, triggers, rack and pinion) while the robot is in motion. It ensures continuous power supply via power rails during the battery swap, allowing the system to operate without interruption.

Conventional battery swapping requires devices like robots to stop, leading to system downtime and reduced operational continuity due to power interruption.

This technology enables non-stop swapping through a mechanical separation unit where an insertion protrusion on the path pushes the battery trigger to release the locking mechanism, a mounting unit that installs a new battery along a guide, and a power rail-based supply unit that compensates for voltage differences during the swap. Applicable to industrial robots and automated systems, it enhances the efficiency and convenience of battery replacement processes across various devices.

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Key Features:

• A battery separation unit installed along the robot's path, featuring an insertion protrusion that disengages the locking protrusion from the locking groove to detach the battery from the robot while it is in motion.
• A power supply unit that provides power to the robot by compensating for voltage differences that occur while the battery is being detached and a charged battery is being installed.
• A battery mounting unit that installs a charged battery into the robot after the previous battery has been detached by the separation unit.
• A battery equipped with a retractable locking protrusion.

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This invention was developed with support from the Ministry of Education, Science and Technology for the development of intelligent robot convergence technology for new and renewable energy.

Reinforcement Learning-Based Gait Generation Technology Using Reward Functions Without Reference Motions

This technology combines deep reinforcement learning with finite state machines to generate character gait motions in real-time. It inputs dynamic states and character-specific parameters into a neural network to generate action information, learning natural gait policies through reward functions.

Conventional finite state machine-based control methods have limitations in achieving natural motion, while existing deep learning approaches require separate reference motion data for gait decision-making, reducing their versatility and efficiency.

By incorporating the minimization of gait parameter deviation, vertical axis maintenance, directional alignment, and joint torque minimization into the reward function, this technology determines optimal stance hip torque and joint angles without the need for reference motion data. It can be applied to bipedal robot control and the generation of character motions in games and animation, enabling natural gait implementation without the burden of data collection.

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Key Features:

• A step of a computing device acquiring gait motion state information of a character at time t
• A step of inputting the acquired state information into a pre-built neural network model to generate action information
• A step of transmitting the action information at time t to the character or a device that outputs the character's motion
• A configuration where the neural network model receives gait motion states as input to determine action information that maximizes reinforcement learning rewards

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This invention was developed with support from the Ministry of Science and ICT for the development of biomechanical model-based intelligent control technology for human movement involving multi-level interactions, and the DeepXR: Deep Hyper-Reality research project.

Four-bar linkage-based stair-climbing device with a flexible fit structure

This technology is an obstacle-climbing device that uses a four-bar linkage mechanism to drive rotating legs to overcome obstacles. It features a flexible fit structure on the bottom of the legs, allowing for variable contact area and reaction force depending on the dimensions of the stairs.

Existing crank-leg or tracked robots are designed for specific stair dimensions, which limits their ability to navigate stairs of varying sizes.

This technology incorporates a flexible fit on the bottom of the legs, featuring multiple supporters spaced between the upper and lower bases. The spacing and tilt angles of these supporters are differentiated by region, allowing them to deform variably upon contact. It can be applied to indoor delivery robots and disaster response robots, ensuring stable climbing performance even in environments with irregular stair dimensions.

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Key Features:

• A pair of rotating legs located on both sides of the body, capable of relative rotation with respect to the body
• A support leg provided on the bottom of the body and arranged parallel to the rotating legs, and a leg drive unit that rotates the pair of rotating legs
• A flexible fit provided on the bottom of at least one of the rotating legs or the support leg
• A plurality of supporters connecting the upper base and the lower base, arranged at predetermined intervals

Rehabilitation Robot Control Device

This technology measures a rehabilitation robot user's brain signals (specifically changes in blood flow) using functional near-infrared spectroscopy (fNIRs) and compares them against machine learning-based pain patterns to determine the presence and intensity of pain. It then uses this data as a control logic to automatically adjust the robot's operating intensity or trigger an emergency stop.

Conventional manual emergency stop buttons are difficult for patients to press in an emergency, and existing physical quantity sensing methods have limitations in accurately responding in real-time to pain outside the training range or sudden situational changes.

This control device consists of a sensor unit that monitors the user's cerebral blood flow, a processing unit that recognizes pain patterns, and a control unit that automatically stops the robot or adjusts its intensity based on pain signal trends when the signals exceed a preset threshold. Applicable to rehabilitation training, gait assistance, and medical/welfare services, it enhances the safety and effectiveness of rehabilitation by automatically adjusting robot operating intensity based on the user's brain signals.

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Key Features:

• A brain signal processing unit that determines whether the measured brain signals indicate pain by comparing them against preset pain patterns.
• A rehabilitation robot control device including a rehabilitation robot control unit that regulates the robot's operating intensity based on whether the measured brain signals indicate pain.
• A brain signal measurement unit that measures brain signals corresponding to changes in cerebral blood flow from a user utilizing a rehabilitation robot.
• A brain signal processing unit that determines whether the measured brain signals indicate pain.

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This invention was developed with support from the Ministry of Education, Science and Technology for the development of upper-limb rehabilitation robot technology using EXG for cognitive/motor rehabilitation of patients with upper-limb paralysis.

Surgical Robot

This technology is a surgical robot mechanism that utilizes a leaf spring-type drive transmission unit within a multi-joint positioning unit. By adjusting the bending and straightening of the leaf spring based on the tensile force of the drive unit, it controls joint positioning and generates high driving torque.

Conventional wire-based drive transmission methods struggle to provide the sufficient torque required for manipulating internal organs and face physical limitations regarding the surgical workspace and power transmission accuracy.

Instead of wires, this technology places a leaf spring-type drive transmission unit on one side of the joint and controls it via a drive unit, increasing mechanical rigidity to deliver high torque. A guide member ensures precise, stable operation without displacement. Applicable to surgical robots, interventional systems, and medical automation, it improves procedural accuracy and ensures precise drive transmission, thereby reducing the burden on the patient.

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Key Features:

• A surgical unit coupled to the positioning unit, which moves in tandem with the positioning unit and features a surgical tip at the distal end for performing procedures on the affected area.
• A leaf spring-type drive transmission unit that controls the position of one joint relative to another by adjusting its degree of bending or straightening in response to the driving force provided by the drive unit.
• A positioning unit formed of multiple joints that can be at least partially inserted into the body and is capable of changing its position.
• A drive unit that generates the driving force required for the positioning unit to change its position.

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This invention was developed with support from the Ministry of Education, Science and Technology's TOP Campus Construction project.

Bogie device for mobile robots based on rocker-bogie mechanism with active power transmission

This technology is a bogie device and mobile robot that optimizes obstacle traversal efficiency by actively lifting the front wheel module through a frame and power transmission mechanism that connects the front and rear wheel modules based on a rocker-bogie mechanism.

Existing rocker-bogie mechanisms rely solely on friction between the wheels and the ground when overcoming obstacles, making active climbing difficult and limiting efficiency due to insufficient upward rotational force at the front wheels.

This technology secures mechanical stability by directly transmitting power from the drive unit to the front and rear wheel power transmission members within a swing-axis-based rocker-bogie structure, incorporating tension rollers and dampers. It can be applied to outdoor patrol robots, rough-terrain exploration, and delivery robots, allowing them to actively overcome obstacles rather than relying on friction.

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Key Features:

• A bogie device connected to both the left and right sides of the front area of the frame, and rear wheels connected to the rear area.
• A pair of rocker connecting members coupled to the frame and spaced apart by a predetermined distance on both sides of the connection point.
• A pair of bogie connecting members positioned in the space between the rocker connecting members, into which the swing axis is inserted.
• A configuration of bogie connecting members arranged to rotate relative to the rocker connecting members via the rotation of the swing axis.

Legged robot with synchronized parallelogram linkage for width and height adjustment

This technology is a synchronized legged robot that adjusts its width and height by transmitting the vertical movement of a single actuator to a moving plate, which is connected to multi-jointed legs configured with a parallelogram linkage structure.

Conventional mobile robots often use individual actuators for each wheel-leg, leading to complex control, high manufacturing difficulty, and reduced mobility in narrow spaces or poor storage efficiency due to a fixed width.

This technology features multiple legs pivotally coupled between a support plate and a vertically movable plate, allowing the legs to rotate in synchronization as the moving plate moves up or down. Applicable to indoor delivery robots and narrow-aisle inspection robots, it reduces both manufacturing costs and control complexity by enabling shape transformation with a single actuator.

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Key Features:

• A support plate and a moving plate positioned at a predetermined distance above it
• An actuator that raises and lowers the moving plate to adjust its height relative to the support plate
• At least three leg units provided along the perimeter of the moving plate, each equipped with a wheel at the end
• A configuration where the leg units are coupled to rotate in synchronization relative to the movement of the moving plate

Medical Robot

This technology is a medical robot system that focuses radiation on a target point from multiple angles through the relative movement between a bed and a multi-link robotic arm unit that follows a spherical trajectory.

Existing robot-based treatment equipment has faced limitations in targeting accuracy, prolonged treatment times, increased weight due to complex drive mechanisms, and the risk of collisions when using multiple robotic arms.

This technology features a configuration of multiple links and drive members that follow a spherical trajectory centered on the same point, allowing for independent multi-axis rotation control through vertical and horizontal relative movement between the bed and the robotic arm unit. By adjusting the bed's position, it optimizes targeting efficiency for the target point. Applicable to industrial robots and automation systems, it improves the accuracy and efficiency of radiation therapy for cancer treatment, enabling rapid and precise targeting, simplifying control, and reducing treatment or operation times.

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Key Features:

• A bed on which the subject is positioned
• A robotic arm unit equipped with an emission member capable of moving within a spherical trajectory where the target point is located at the center of the sphere
• The bed and the robotic arm unit are capable of relative movement in vertical or horizontal directions
• A configuration that moves the subject to the target point by causing relative movement between the bed and the robotic arm unit

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for brain mapping-based robot rehabilitation.

Water Rescue System

This technology is a life-saving system consisting of a control unit that monitors the water environment and identifies object locations using multiple stereo cameras, a rescue robot that autonomously navigates to the victim based on real-time paths generated by the control unit, and a base station that supports these operations.

Existing manual rescue equipment and personnel deployment methods face technical limitations in responding quickly to water safety accidents, often failing to secure the golden time required for life-saving.

This technology performs real-time tracking of swimmers' locations and speeds, as well as hazard zone mapping based on stereo camera data. It provides the rescue robot with a navigation path to autonomously reach the victim, enabling rapid rescue. Applicable to logistics, service robots, and autonomous platforms, it enhances the efficiency of water accident management and improves the ability to provide timely rescue in critical situations such as near-drowning.

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Key Features:

• A control unit that generates a movement path from the rescue robot's position to the victim's location based on information acquired from the imaging unit and the object/location recognition and tracking unit, and is capable of transmitting and receiving data with the base station.
• An object and location recognition/tracking unit that identifies and tracks the positions of victims and rescue robots in a water environment.
• A rescue unit that rescues the victim when an incident occurs, based on information provided by the control unit.
• The control unit includes an imaging unit equipped with multiple stereo cameras to provide stereo vision.

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This invention was developed with support from the Ministry of Education, Science and Technology for the development of sensor-fusion-based public safety threat detection technology.

Monocular RGB 3D Reconstruction Technology Combining Keyframe Selection and TSDF Volume Prediction

This deep learning-based scene reconstruction technology takes monocular RGB image sequences and camera pose data as input, generates a 3D feature volume through a fusion of CNN and GRU, and predicts it as a TSDF volume to reconstruct a dense 3D mesh.

Existing monocular RGB-based 3D reconstruction technologies often suffer from high dependency on depth map quality, high computational costs during real-time reconstruction, and low reconstruction completeness, making precise scene representation difficult.

This technology optimizes reconstruction performance and efficiency by combining keyframe selection, local fragment segmentation, a feature extraction network, a 3D CNN and GRU fusion unit, and a refinement network. It can be applied to autonomous driving, AR/VR content creation, and robotic spatial awareness, enabling the acquisition of precise 3D spaces using only a camera, without the need for depth sensors.

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Key Features:

• Selecting specific images from RGB image sequences as keyframes
• Designating areas corresponding to the selected keyframes as local fragments for reconstruction
• Extracting features from each image using a feature extraction network composed of convolutional neural networks
• Predicting the TSDF volume by fusing the extracted features of each image into a 3D feature volume

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This invention was developed with support from the Ministry of Science and ICT for the development of robust pose estimation and 3D environment reconstruction algorithms through the fusion of event cameras, physical sensors, and deep learning in extreme environments.

Real-time Multi-Robot Navigation Control Technology Using Node-Passage Sequence Path Queues

This technology is a navigation control method and system that prevents node collisions by generating a path queue containing node-by-node passage sequences based on multi-robot path planning, and sequentially transmitting movement commands to each robot based on real-time location monitoring.

Even with pre-established path planning for multiple robots, collisions can occur due to movement errors during actual operation. Existing technologies require a full path re-search when a collision occurs, resulting in high computational costs and reduced efficiency.

This technology updates the path queue between each robot's current position and target node in real time, restricting the movement of robots at risk of collision by cross-referencing node occupancy sequences and identification information. It can be applied to multi-AGV operations in logistics warehouses and smart factories, maximizing throughput by avoiding collisions without the need for full path re-planning.

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Key Features:

• Transmitting control commands to each robot based on path plans generated in response to multi-robot movement requests
• Monitoring the environment of multiple robots moving according to the transmitted control commands for each robot
• A configuration that generates a path queue storing the sequence in which robots pass through nodes based on path planning
• A configuration that checks the path queue to move to the next target node based on each robot's current node

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This invention was developed with the support of the Ministry of Science and ICT for the development of task planning technology for individual robots and robot groups connected to the cloud.

Directional Control Device for Legged Mobile Robots

This technology is a momentum control mechanism for hopping-based legged mobile robots that actively controls body rotation during zigzag landings by calculating lateral linear velocity based on the error between the commanded and measured rotation angles and transmitting it to the hip joint controller.

When a legged mobile robot moves in a zigzag pattern during hopping, the ground reaction force causes unnecessary body rotation, which compromises driving stability and leads to slippage.

This technology calculates the error between the input commanded rotation angle and the actual body rotation angle, determines the lateral linear velocity required to offset rotational momentum, and applies it to the robot's hip joint posture controller to perform active directional control and rotation suppression. Applicable to logistics, service robots, and autonomous platforms, it prevents unnecessary body rotation and maintains a smooth ride, thereby improving the stability and control of legged mobile robots during hopping motions.

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Key Features:

• A directional control device for a legged mobile robot, comprising an output unit that transmits the calculated lateral linear velocity to a position and posture controller to maintain the robot's foot placement and body posture.
• An input unit that receives the commanded coordinate values for the landing points of the legged mobile robot's legs and the commanded rotation angle of the robot.
• A calculation unit that computes the lateral linear velocity to control the rotational momentum of the legged mobile robot using the error.
• A measurement unit that measures the rotation angle of the body that occurs while the legged mobile robot is moving.

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for the development of upper-limb rehabilitation robot technology using EXG for cognitive/motor rehabilitation of patients with upper-limb paralysis.

Drive Control Device for Regulating Body Height of Legged Mobile Robots

This technology introduces a virtual spring model to control critical vibration behavior during the hopping motion of legged mobile robots. Based on the law of conservation of energy, it calculates virtual spring constants (kv1, kv2) for both ideal and actual conditions, and executes a control algorithm that determines the driving force (F) of the linear actuator by summing these values.

Controlling the critical vibration behavior of legged mobile robots requires accounting for both the total kinetic and potential energy of the system, which complicates the energy calculation process and presents computational challenges in reflecting all physical factors.

This technology employs a drive control device and algorithm that calculates the virtual spring constant for ideal conditions (kv1) and the virtual spring constant for actual conditions reflecting energy loss (kv2), then determines the final driving force (F = (kv1 + kv2)c) based on the robot's actual contraction displacement (c) to transmit to the linear actuator. Applicable to logistics transport, service robots, and autonomous platforms, it improves the control of critical vibration behavior and simplifies the energy calculation process for legged mobile robots.

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Key Features:

• Modeling unit that calculates virtual spring constants by modeling critical vibration behavior using a virtual spring model
• Driving force determination unit that calculates the driving force based on body height using virtual spring constants and transmits it to the linear actuator
• Configuration utilizing the energy conservation relationship between maximum height potential energy and minimum height potential energy
• Drive control device for a legged mobile robot that calculates virtual spring constants under ideal conditions

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for the development of upper-limb rehabilitation robot technology using EXG for cognitive/motor rehabilitation of patients with upper-limb paralysis.