This technology utilizes FEM analysis to strategically place strain gauges within a Maltese cross-shaped sensor frame. It measures deformations caused by loads during object gripping to calculate 3-DOF (Fz, Tz, Tx) force/torque data. The collected signals are processed via a data acquisition board using decoupling algorithms to compensate for physical cross-talk, ensuring precise measurements.
Conventional grippers are typically limited to simple compression force measurement, making it difficult to precisely measure force and torque at the tool-tip contact surface. Furthermore, tactile sensors often suffer from slow response times, rendering them unsuitable for high-speed repetitive tasks. Additionally, attaching individual sensors to multi-fingered robotic hands leads to complex structural and control requirements.
This technology integrates a Maltese cross-shaped sensor frame with strain gauges for deformation measurement and utilizes an integrated wiring board to achieve a compact design. Analog signals acquired from the optimally placed strain gauges (via FEM analysis) are processed by a data acquisition board, which uses a decoupling matrix to separate and convert them into digital force/torque data for each axis. Applicable to robotic gripping, precision measurement, and automated equipment, this solution enhances the accuracy and response rate of force and torque measurement in robotic grippers.
This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of safety modules with a maximum output range of 150Nm and force-torque/joint sensor technology for dual-arm collaborative robots.
This technology features a structure that performs directional changes and attitude control for a tricopter-type VTOL UAV by applying a tilting mechanism to the tail propeller section. It utilizes a mechanical design where a tilting gear is engaged with a tail propeller mount, which is coupled to the center frame via bearings, allowing for rotational control via a servomotor.
Reduced energy efficiency and limited flight time of UAVs, as well as production process inefficiencies caused by the complexity of existing airframe structures.
This technology designs the tail propeller with a tiltable mount structure and uses a servomotor and tilting gear to adjust the angle of the tail propeller, enabling directional changes and stable flight attitude control. Additionally, the frame is designed using lightweight materials such as carbon fiber to optimize the airframe weight. Applicable to unmanned exploration, surveillance, and environmental monitoring, it improves energy efficiency and extends the flight time of the UAV.
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.
This technology is a robot arm control system designed for obstacle avoidance and micro-manipulation, featuring a flexible link section where multiple disks are connected by link wires, and a gripper opening/closing mechanism driven by wire tension.
Conventional rigid-link robot arms have limited workspaces, struggle to avoid obstacles in confined areas, and are restricted in their ability to grasp objects of various sizes due to the use of integrated grippers.
This technology features a design where disks with opposing convex surfaces are connected by link wires to allow for bending, a sliding groove within the gripper for detachable connection to the link section, and variable control of the gripper opening width through wire tension adjustment.
This technology is a behavior imitation control system that converts human joint angle data into robot joint angle data using an artificial neural network (based on fully connected layers). It uses a 6D vector, which combines the roll, pitch, and yaw data of two human joints, as input data to predict control values for robot joints with different degrees of freedom.
Due to differences in physical structure and degrees of freedom between humans and robots like humanoids, traditional geometric inverse kinematics methods require complex calculations, struggle to produce accurate results, and suffer from reduced computational efficiency because a separate neural network must be built for each individual joint.
This technology generates 6D input data by combining 6-axis angle information from specific joint pairs in human behavior data. It then outputs robot joint angle data directly through a fully connected artificial neural network configured in 6-6-12-J units, enabling behavior imitation without the need for complex inverse kinematics calculations.
This technology is a map generation algorithm that optimizes exploration efficiency by segmenting a generated 2D map, grouping boundary points between scanned and unscanned areas, and assigning movement priorities within the current segment.
Existing mobile robots often suffer from inefficiencies, such as repeatedly traversing the same areas or unnecessarily increasing travel distance, because they dynamically adjust their paths based solely on nearby boundary points.
This technology applies a positioning logic that divides a 2D map into segments and groups boundary points, prioritizing the exploration of boundary point groups within the current segment and only setting a path to another segment when no boundary points remain in the current area.
This technology is a four-wheel drive and steering system utilizing two motors (left and right). By using belts, bevel gears, and steering linkages, it reduces the number of motors required while enabling synchronized driving and steering for both front and rear wheels.
Conventional four-wheel robots typically place a motor at each wheel, which complicates control, increases manufacturing costs, and adds structural complexity due to link-based steering mechanisms.
This technology connects the front and rear drive units with a belt to transmit power from a single drive motor to all wheels, and implements a mechanical structure that controls left and right steering through a combination of spur gears and bevel gears connected to a steering motor.
This technology is a multi-chamber gripper device and gripping method that utilizes first to third chambers with individual pressure control and a jamming phenomenon to flexibly adapt to an object's shape and secure gripping force by forming a vacuum.
Conventional suction-based grippers are effective for picking up flat objects but have limitations in stably gripping objects with three-dimensional shapes or irregular surfaces.
This technology fills internal and external jamming chambers made of flexible material with jamming particles and independently controls the internal pressure of each chamber via a pressure regulator and flow paths, allowing the gripper to change its shape to match the target object for a secure, close-contact grip. It can be applied to logistics sorting, food packaging, and handling irregular parts, enabling a single gripper to stably handle a variety of shapes.
This technology is a mobile anchor robot that features a caterpillar-based drive unit capable of traveling along a rope. It utilizes a tension-adjusting roller connected via a linkage mechanism, with a link drive unit that controls the relative position of the roller to apply tension to the rope, thereby firmly securing the robot at a specific point.
Existing rope-traveling robots offer excellent mobility but lack the ability to remain stably stationary on a rope without swaying, and they often suffer from reduced stability when carrying heavy loads.
This technology incorporates tension-adjusting rollers at the front and rear of the drive body, using multi-jointed links to press the rollers against the rope, which maximizes friction between the caterpillar tracks and the rope. It can be applied to building exterior maintenance, high-altitude facility inspections, and industrial rope access work, providing stable, sway-free anchoring during operations.
This invention was developed with support from the Ministry of Science and ICT for the development of a robot platform capable of free movement on various types of exterior walls.
This technology uses a camera to identify target substances on the floor and operates a learning mode that adjusts speed and suction intensity compared to the normal mode to determine the threshold speed and suction intensity required to remove specific substances. It is an algorithm that automatically switches to an optimized calibration mode when the same substance is detected, thereby controlling cleaning efficiency.
Existing cleaning robots operate at a constant speed and suction intensity without considering the environment or the characteristics of specific substances, leading to residual debris and reduced energy efficiency.
This technology applies a control logic that extracts threshold values by sequentially performing a normal mode and a learning mode (variable speed/intensity) during the Nth cleaning cycle, and dynamically switches to a calibration mode suitable for the target substance identified by the camera during the N+1th cleaning cycle. Applicable to industrial robots and automation systems, it improves cleaning efficiency and optimizes operation by learning the optimal movement speed and suction intensity for different target materials through unsupervised learning.
This technology features a structure where multiple link members and drive members are arranged along a concentric spherical trajectory centered on a target point. Multiple robotic arms rotate independently and without interference to precisely control the irradiation angle of the emission member toward the same target point.
Existing robot-based irradiation devices suffer from low aiming precision, excessive drive components that increase overall weight, difficulty in achieving a compact design, and interference issues when using multiple robotic arms.
This technology utilizes relative movement control between the cradle and the robotic arms, a concentric spherical design where the rotation axes of multiple link and drive members meet at the target point, and angle adjustment elements to control the emission member's orientation toward the target point. It can be applied to industrial robots and automation systems to improve control and directionality, reduce operating time, and enhance the precision of irradiation equipment compared to conventional technologies.
This invention was developed with support from the Ministry of Science, ICT and Future Planning for brain mapping-based robot rehabilitation.
This technology is a cleaning robot device and control method that identifies uncleaned areas based on obstacle detection and environmental information, and dynamically updates and optimizes cleaning paths by switching between path, proximity, and remote modes depending on the location of those areas.
Conventional random, spiral, and zigzag methods struggle to secure efficient cleaning paths in indoor environments with many obstacles, leading to uncleaned areas, increased battery consumption, and delayed cleaning times.
This technology uses encoders, distance sensors, and contact sensors to identify obstacles and uncleaned areas. The control unit analyzes the relationship between obstacles and the location of uncleaned areas to select the appropriate cleaning mode in real time and update the path. Applicable to both residential and commercial cleaning robots, it eliminates uncleaned areas while reducing both cleaning time and battery consumption.
This technology is a lift device that moves along the vertical panels of a building exterior using an inchworm-style mechanism. It utilizes a ball screw drive and a wedge-tip expansion/contraction system to sequentially couple and move the main body and the mobile units.
Maintenance of high-rise building exteriors currently faces challenges such as worker fall risks and labor shortages. Existing gondola systems are vulnerable to weather conditions and lack an effective means to navigate dead zones at building corners.
This technology uses a rotating ball screw to secure or release two mobile units into coupling holes via wedge-tip units, allowing the main body to ascend and descend in an inchworm motion. The L-shaped main body and guide rail mobile unit enable work even at building corners. It is designed for high-rise exterior maintenance, ensuring both precise vertical movement and large-displacement travel.
This invention was developed with support from the Korea Agency for Infrastructure Technology Advancement (KAIA) for the development of an intelligent robot system for high-rise building exterior maintenance.
This technology estimates a mobile robot's position by calculating matching errors based on the area deviation between range sensor scan data and environment map-based predicted data, applying these to a probability density function, and enabling rapid recovery in the event of a failure.
Existing beam models are sensitive to sensor data errors, suffer from reduced localization accuracy in real-world environments with unmapped obstacles, and experience delays in recovery when localization fails due to issues like wheel slippage.
This technology calculates matching errors using the deviation between scan range areas and predicted range areas, removes noise via a median filter, detects failures using statistical thresholds, and proposes a method for probabilistic re-estimation within a maximum motion boundary. It can be applied to indoor service robots and logistics robots, minimizing downtime by quickly recovering even if the robot loses its position.
This invention was developed with support from the Korea Institute for Advancement of Technology (KIAT) through the project for fostering demand-oriented global leaders in indoor/outdoor robot autonomous driving technology.
This technology is a driving module and a robot incorporating it, where multiple driving legs rotating around a central axis simultaneously self-rotate to control drag based on the direction of travel.
Existing paddle-structured robots suffer from reduced propulsion efficiency because the direction of drag is fixed during rotation, causing drag to act against the direction of movement.
By utilizing a gear structure between a central plate and satellite plates, this technology is designed to allow the paddle sections to self-rotate along their rotational trajectory, thereby maximizing forward drag and minimizing reverse drag. It can be applied to off-road robots, amphibious mobile platforms, and agricultural robots to achieve higher propulsion efficiency with the same power input.
This invention was developed with the support of the Ministry of Science and ICT for research on environment-adaptive smart wheel-based robot systems.
This technology is a variable gripper that uses a 3D-printed shape-memory polymer structure, an adhesive polymer layer, and a heater unit. By utilizing heat-induced glass transition to reversibly control the physical shape of the wings, it can grip and release objects.
Conventional grippers have faced challenges such as difficulty in controlling gripping and releasing performance, slow release times, and inefficiencies in manufacturing costs and time.
This technology optimizes shape recovery by controlling 3D printing process variables, such as unit layer thickness and wing edge width, and physically controls response time by combining heater temperature application with external force. It can be applied to precision component transport, micro-assembly, and medical device handling, enabling sophisticated grip control through low-cost manufacturing.
This invention was developed with support from the Ministry of Science and ICT for the development of 3D printing-based, biosignal-responsive, customized implant devices for smooth urination in patients with lower urinary tract symptoms.
