Multi-robot system for obstacle avoidance and method using switching formation strategy for obstacle avoidance

This technology is a control mechanism for a multi-robot system consisting of a leader robot and follower robots. It calculates waypoints using a Geometric Obstacle Avoidance Control Method (GOACM) and performs obstacle avoidance and formation reconfiguration by switching formations based on these waypoints.

Existing artificial potential field methods have faced issues such as local minima, reduced efficiency due to complex computations, and the risk of inter-robot collisions when attempting to maintain formations while simultaneously avoiding obstacles.

This technology utilizes a switching formation strategy and priority model where the leader robot calculates waypoints based on the shortest or safe distance to obstacles, and follower robots recalculate required distances and azimuths in real-time to change and maintain formations without collisions. Applicable to rehabilitation training, gait assistance, and medical/welfare services, it improves obstacle avoidance performance in multi-robot systems by providing an effective switching formation strategy for re-forming large-scale structures and detecting inter-robot collisions.

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Key Features:

• A leader robot positioned at the front of the direction of travel and follower robots forming a line formation behind it
• Each robot includes a body, wheels, a drive unit, a control unit, and a front sensor unit
• When the leader robot's sensor unit detects an obstacle, it calculates waypoints using geometric avoidance control
• A configuration where follower robots cooperate with the leader robot to transition into an obstacle avoidance formation

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

Anti-rollover robot with modular length adjustment and off-road driving capabilities

This technology is a modular mobile robot designed to prevent the rollover of carriers (such as speed sprayers) on irregular terrain. By combining an adjustable frame with wheel units capable of rotation and extension, it maintains the carrier's level and follows the ground contour even on slopes.

Agricultural machinery and carriers face a high risk of tipping over or falling when operating on sloped, irregular terrain like farm paths, and it is difficult to provide universal anti-rollover devices that accommodate different carrier sizes.

This technology features a length-adjustable frame that can be customized to the carrier's width, gyro sensor-based slope measurement, a leveling algorithm that independently adjusts the height of the extension units and wheels via rotation controllers and actuators based on the slope, and a vacuum suction method for securing the carrier.

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Key Features:

• A length-adjustment section consisting of multiple interlocking frames that can be adjusted to fit the width of the carrier
• An off-road driving section installed on both sides of the length-adjustment section, featuring internal support plates for off-road mobility
• A coupling section that modularizes and securely integrates the length-adjustment section and the off-road driving section
• An extension unit that rotates and extends via a rotation controller at the upper end of the support plate, and wheels installed at the end of the extension unit that move vertically

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Robot for self- and cross-pollination using depth cameras and interchangeable end-effectors

This technology is a mechanism and control system for an automated pollination robot equipped with a greenhouse navigation unit, a robotic arm, a depth camera-based pollination target detection unit, and interchangeable end-effectors that perform self-pollination (brush-driven) or cross-pollination (pollen spraying) depending on the target crop.

The technology addresses the need for alternative pollination methods to solve crop yield reduction and malformed fruit issues caused by declining honeybee populations, while automating efficient self- and cross-pollination tasks tailored to specific crop types.

The system features a LiDAR-based autonomous navigation unit, a detection unit that identifies flower locations using QR codes and depth cameras, a self-pollination end-effector that moves a brush forward and backward via a servo motor, rack, and pinion mechanism, and a cross-pollination end-effector that sprays pollen using an air supply pump, ejector, and spray nozzle.

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Key Features:

• A navigation unit that travels within the greenhouse and supports the pollination target detection unit and the pollination work unit installed on top.
• A pollination target detection unit installed on the navigation unit that detects pollination targets using a depth camera and other sensors.
• A pollination work unit installed at the end of the robotic arm that performs pollination tasks under the control of the control unit.
• A self-pollination end-effector equipped with a brush that is controlled to move forward and backward by a spur gear, pinion, and rack driven by a servo motor.

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Robot Joint Unit with Suppressed Torque Ripple Using Cross-Roller Bearings and Spoke Structure

This technology is a robot joint unit that accurately measures output torque by placing a torque sensor between the flexspline and the output section of a harmonic drive, while supporting the base and output sections with cross-roller bearings to suppress deformation caused by external forces and crosstalk resulting from torque ripple.

When using harmonic drive reducers, it has been difficult to accurately measure joint output torque due to torque ripple caused by input rotation speed and torque sensor deformation from external moment loads.

This technology proposes a method that places cross-roller bearings between the base and output sections to support external forces, and uses a Wheatstone bridge configuration to process signals from multiple spokes and sensor gauges arranged at 90-degree intervals to cancel out torque ripple. It can be applied to force-controlled joints in collaborative robots, providing reliable torque signals even in environments with external disturbances.

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Key Features:

• A drive unit including a base and an input shaft disposed on the side of the base to receive input torque from a motor
• A harmonic drive reduction unit that receives input torque from the input shaft and increases torque through reduction
• An output unit that converts the reduced torque received from the reduction unit into output torque and rotates to output it externally
• A torque sensor disposed between the output unit and the reduction unit to precisely detect the output torque on the output unit side

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This invention was developed with support from the Korea Institute for Robot Industry Advancement under the Ministry of Knowledge Economy for autonomous intelligent manipulation for service robots.

Docking device for securing maintenance equipment using a 3-point docking pin and hook interlocking system

This technology is a multi-docking system designed to securely fasten maintenance equipment to the horizontal movement module of an exterior wall climbing device by mechanically coupling docking pins located on the top, bottom, and sides of the maintenance equipment body with the docking unit inside the climbing device.

When performing exterior wall maintenance on high-rise buildings, there is a risk of worker falls. Existing methods for attaching cleaning tools often struggle to maintain stable fixation during movement, leading to a high risk of secondary accidents caused by falling equipment.

This technology proposes a method that places 3-point docking pins on the top, bottom, and sides of the maintenance equipment body and interlocks a hook-shaped docking pin catch with a docking hook inside the horizontal movement module to physically prevent the pins from disengaging. It can be applied to exterior wall cleaning and painting robots, effectively preventing secondary accidents caused by falling tools during high-altitude work.

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Key Features:

• Maintenance equipment body equipped with a side docking pin on one side, an upper docking pin on the top, and a lower docking pin on the bottom
• Upper docking unit installed on the inner surface of the exterior wall climbing device to engage with the upper docking pin on the maintenance equipment body
• Lower docking unit that engages with the lower docking pin on the bottom, and a side docking unit that engages with the side docking pin on the side
• Structure that physically prevents the docking pins from disengaging by interlocking a hook-shaped docking pin catch with a docking hook

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This invention was developed with support from the Korea Agency for Infrastructure Technology Advancement (KAIA) for the development of a built-in guide type movement/work platform.

External Wall Climbing Device with Integrated Brake System to Reduce Wire Load via Vertical Rail Braking

This technology is an external wall climbing device that features a brake unit mounted on the vertical movement module. By physically engaging with the vertical rail when stationary, it secures the module's position and reduces the load on the wire.

Previously, shocks generated during the docking process between the vertical and horizontal movement modules were transmitted to the wire, causing excessive tension. This led to wire stretching and breakage, posing a risk of robot falls and compromising maintenance safety.

This technology integrates a brake unit—consisting of a solenoid actuator, a linkage, and brake pads—into the vertical movement module. When the solenoid is activated, the linkage rotates, pressing the pads against the vertical rail to generate braking force. Applicable to cleaning and inspection robots for skyscrapers, it fundamentally prevents falls caused by wire breakage and maximizes operational safety.

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Key Features:

• A vertical rail installed on the building's exterior, perpendicular to the ground, to provide a path for movement.
• A vertical movement module equipped with multiple rail wheels, installed to move up and down along the vertical rail.
• A solenoid actuator installed on the vertical movement module and a brake pad unit inserted into the vertical rail for movement.
• A linkage that moves the brake pad unit into position to generate braking force through linkage motion when the solenoid actuator is engaged.

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This invention was developed with support from the Korea Agency for Infrastructure Technology Advancement (KAIA) for the development of a built-in guide type mobile/work platform.

Vision Tracking System for Target Following Using Indoor GPS-Based Motion Compensation

This technology is a system and method that maintains vision tracking accuracy for a target by detecting the real-time movement of a mobile robot's primary body via indoor GPS, using this as a feedforward signal, and inputting it into a controller along with feedback signals from a vision sensor to actively drive the secondary body, which serves as the camera mount.

Existing systems faced issues where the vision sensor would move along with the robot body during driving or vibration, causing the target to exit the recognition range or resulting in motion blur in the video signal, which degraded recognition rates and accuracy.

This technology proposes an active vision tracking system that acquires movement and rotation data of the primary body through indoor GPS triangulation and compensates by driving the secondary body in the opposite direction of the primary body's movement via a controller. By combining inertial sensors and encoders to correct motion detection errors, it achieves precise tracking. It can be applied to indoor surveillance robots, automated logistics equipment, and precision imaging devices, ensuring steady video tracking even while in motion through precise, indoor GPS-based compensation control.

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Key Features:

• IGPS signal transmitter that generates signals to detect the movement of the primary body
• IGPS signal receiver that receives signals from the IGPS signal transmitter to generate movement information for the primary body
• Controller that generates control signals to drive the secondary body by using the primary body's movement information as a feedforward signal
• Actuator that drives the secondary body, to which the vision sensor is attached or integrated, according to the control signals from the controller

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This invention was developed with support from the Ministry of Knowledge Economy for the development of u-Robot HRI solutions and core component technologies.

Drive and Steering Module with Simplified Steering via Vertical Suspension and Coaxial Drive

This technology implements a vertical suspension structure by placing an elastic member and a guide member between the knuckle arm, which secures the wheel's rotation axis, and the steering link, which features a steering shaft. It is an independent drive and steering module technology where the drive shaft passes through the hollow steering shaft to transmit power to the wheel rotation axis via a bevel gear structure.

Conventional four-wheel drive systems face issues such as the complexity of individual motor control, intricate link structures, and high manufacturing costs due to the use of multiple drive motors. Furthermore, they have structural limitations where slippage between the wheels and the ground intensifies when the turning radius is small during steering.

This technology simplifies the drive and steering mechanism by interposing a vertical suspension between the steering link and the knuckle arm and adopting a coaxial structure where the drive shaft passes through the steering shaft. It supports the linear motion of the knuckle arm through a guide member composed of multiple joint pins and joint plates, and ensures steering and driving efficiency by transmitting power through a bevel gear structure.

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Key Features:

• Front left and right drive units provided on the front left and right sides of the main frame to receive driving and steering forces for front wheel propulsion and steering
• Rear left and right drive units provided on the rear left and right sides of the main frame to receive driving and steering forces for rear wheel propulsion and steering
• Vertical suspension provided in each of the front and rear drive units, featuring an elastic member and a guide member interposed between the knuckle arm and the steering link to provide wheel cushioning
• Drive shaft arranged to pass through the hollow steering shaft of the steering link, rotating on the same axis as the steering shaft and transmitting power to the rotation axis via a bevel gear structure

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Digital Twin-Based Predictive Maintenance and Monitoring System for Transport Robots

This technology creates a digital twin on a server using real-time monitoring data (audio, IMU, and component usage counts) from transport robots. It then calculates failure probability and remaining useful life through a predictive model, visualizing the results in an XR environment.

Maintenance efficiency is currently low due to the difficulty of accurately predicting the status and failure probability of transport robots in real-time, as well as a lack of simulation for actual operating environments and intuitive status visualization.

This technology builds a predictive model that converts the robot's audio data into images to extract features, then integrates these with IMU sensor values and component usage data via a Fully Connected Layer (FCL) to determine failure and remaining lifespan.

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Key Features:

• Transport robot that moves items based on transport information—including origin, destination, and item type—while collecting audio data, IMU sensor values, and component usage counts.
• Server that generates a digital twin based on the robot's monitoring data and transport information, predicts lifespan and failure, and visualizes transport simulations.
• Monitoring terminal that receives transport simulations from the server and displays them for user verification.
• Predictive model that calculates failure probability and expected lifespan by integrating feature data (converted and smoothed audio images) with IMU sensor values and component life data using an FCL.

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Parallel Robot System Combining a Bevel Gear-Driven Spherical 3-DOF Parallel Mechanism with Kalman Filter Tracking

This technology is a parallel robot system that controls the position and orientation of a user unit connected to a rotating member. It is based on a spherical 3-DOF parallel mechanism where multiple motors mounted on the outer surface of a base frame drive intersecting guide links via bevel gears, and it includes an object tracking control algorithm utilizing a Kalman filter.

Conventional technologies suffer from limitations such as high external exposure when ceiling-mounted due to the fixed body and user unit being in the same direction, increased volume from internal motors, reduced durability due to asymmetric loads, and constraints on miniaturization caused by screw-through structures.

This technology minimizes mechanical interference by placing motors on the outer surface of the base frame and forming semi-circular guide links that face the user unit. It achieves a compact structure by using bevel gears to transmit motor power, and it tracks objects in blind spots by matching sensing predictions with real-time sensing values and estimating positions using a Kalman filter. Applicable to ceiling-mounted surveillance and tracking robots, industrial automation, and precision positioning, this compact design enhances space utilization and blind-spot tracking performance.

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Key Features:

• A base frame formed with an internal space, featuring a first motor and a second motor disposed on its outer surface
• A first guide link with both ends connected to the base frame, configured to be rotated by the first motor
• A second guide link with both ends connected to the base frame, configured to be rotated by the second motor and to intersect with the first guide link
• A rotating member configured to be rotated by the first or second guide link, with a replaceable user unit connected to its other end

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This invention was developed through active display support using local government ubiquitous networks.

Multicopter optimized with a multi-stage detachable wing support and socket coupling structure

This technology is a structural optimization for multicopter airframes that features a multi-stage detachable wing support (first and second supports) to allow for easy attachment, detachment, and vertical angle adjustment, while stabilizing mechanical and electrical connections through an integrated electrical connector and socket structure.

As multicopters have grown in size due to the mounting of equipment such as cameras, they have become difficult to transport and store. Furthermore, there have been limitations in structural design regarding the ability to secure sufficient thrust, maintain flight stability, withstand wind resistance, and protect the airframe during a crash.

This technology incorporates an angle adjustment unit using a rotation center pin and a fixing pin between the airframe and the wing support. It also introduces an electrical connection (plug/cord) and socket coupling structure that allows the second support to be inserted into and detached from the first support, ensuring ease of disassembly and transport. Applicable to unmanned aerial photography, surveillance, reconnaissance, and environmental monitoring, it improves flight stability and wind resistance while facilitating easier transport and storage.

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Key Features:

• Wing supports provided along the circumference of the airframe, capable of vertical angle adjustment
• A first support coupled to the airframe with adjustable angles, and a second support that is detachably fitted to the first support and to which the wings are attached
• An electrical connector provided to enable electrical connection between the first and second supports when they are coupled together
• A socket fitted to the outside of the second support to restrict movement, into which the first support is inserted and secured with screws

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This invention was developed with support from the Ministry of Education, Science and Technology for the development of a flight robot control system for live-line inspection of Korean power transmission lines.

Active Meal Assistance Device

This technology is an active assistive device that detects a user's subtle muscle strength and biological signals to identify their intended upper limb movements, controlling eight joint axes to assist with the movement and rotation of the arm.

Elderly individuals or rehabilitation patients with limited muscle strength often face challenges in eating or performing upper limb activities independently.

This technology detects the user's movement intent through load cells and electromyography (EMG) sensors. It uses a manipulator structure equipped with 8-axis gimbal motors and sliding components to actively guide the position and angle of the upper limb while providing muscle support. Applicable to rehabilitation training, mobility assistance, and medical/welfare services, it enhances the quality of life for the elderly, the infirm, and rehabilitation patients by supplementing their limited strength and enabling them to perform various tasks.

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Key Features:

• The 3rd L-frame, shaped like an 's┐'s with a horizontal plane extending from one side of the front face, where the rear of the 6th-axis gimbal motor unit is fixed to the front face, and the horizontal plane is connected to the front of the upper limb support.
• The 1st L-frame, shaped like an 's┐'s with a vertical plane extending from one side of the horizontal plane, where the lower part of the 8th-axis gimbal motor unit is fixed to the horizontal plane.
• The 2nd L-frame, shaped like an 's┐'s with a rear face extending from one side of the lateral face, where the rear of the 7th-axis gimbal motor unit is fixed to the inner face.
• The 6th-axis gimbal motor unit, which has a rotation axis connected to the rear face of the 2nd L-frame, rotating the 2nd L-frame clockwise or counter-clockwise.

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for the development of an active exercise system based on human-robot collaboration technology to improve upper limb motor function in the elderly and infirm.

Remote Robot Control Device for Pipe Installation

This technology is a system for performing pipe installation tasks through the remote collaborative control of multiple field robots. It utilizes force/torque sensor data from grippers to estimate the pipe's gripping state and employs a robot remote control mechanism that automatically corrects horizontal positioning errors based on contact information with the flange.

Conventional 1:1 remote control methods require high operator proficiency and are limited by the workspace and payload capacity of a single robot, making complex tasks like large-scale pipe installation difficult and causing high operator fatigue.

This technology implements a device that receives commands from a user remote control interface to collaboratively manage multiple robots. It divides the pipe gripping and installation process into task command generation and autonomous command generation. Specifically, it provides a control algorithm that regulates contact force and precisely calibrates pipe positioning through force/torque sensor feedback. Applicable to logistics picking, service robots, and manufacturing automation, it enables coordinated and symmetrical movements of multiple field robots, thereby improving the efficiency and quality of pipe installation tasks.

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Key Features:

• A remote robot control device that corrects horizontal positioning errors by moving the pipe horizontally until the contact force reaches zero, using contact information between the pipe and the flange.
• An autonomous command generation unit that creates autonomous command signals for multiple field robots to install a pipe between two spaced-apart flanges.
• An interface unit that receives pipe gripping and pipe installation operation command signals to control the movements of the field robots.
• A task command generation unit that creates task command signals for the field robots to grip the pipe in response to the pipe gripping operation command signal.

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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.

Contact Force Decomposition Technology for Separating Shear Force via Resultant Normal Force Calculation Using Multiple Pressure Sensors

This technology is a contact force decomposition method and haptic device that measures contact pressure from multiple micro-contact surfaces arranged at different angles on the surface of an external force application unit, and calculates the shear force component by vectorially subtracting the resultant normal force from the total measured contact force.

Existing haptic devices can only measure the total resultant force generated during object contact, leading to low accuracy in reaction force estimation because they cannot precisely decompose changes in contact surface geometry due to object deformation or changes in the direction of normal and shear forces.

This technology proposes a method that derives the resultant normal force using the geometric normal information of the sensors and then extracts the shear force through vector calculation with the contact force sensor values. It can be applied to surgical robots and teleoperated haptic interfaces to precisely decompose contact states into normal and tangential components, enabling realistic force feedback.

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Key Features:

• Measuring contact pressure from multiple micro-contact surfaces positioned at different angles between the target object and the external force application unit
• Measuring the total contact force acting on the external force application unit by the target object using sensors
• Determining the resultant normal force, which is the force in the normal direction of the multiple micro-contact surfaces, from the measured contact pressure
• Calculating the shear force, which is the planar force acting on each micro-contact surface, based on the resultant normal force and the total contact force

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This invention was developed with support from the Ministry of Science, ICT and Future Planning's Research Center for Local Projection Imaging and Haptic-based Surgical Robot Technology.

Underground Excavation and Movement Device Combining Four-Bar Linkage Friction Propulsion and Excavation Unit

This technology is an excavation and movement device where a four-bar linkage-based movement unit, installed on the outer surface of the excavation housing, performs linkage motion in response to the rotation of a link motor, utilizing friction with the ground to move forward or backward.

Existing steel pipe jacking devices have limitations in underground exploration and maintenance tasks due to their large size and restricted movement directions.

This technology proposes a method to reduce the overall size by embedding a motor within the excavation unit and to improve directional control and mobility underground by adopting a four-bar linkage structure. It can be applied to underground pipeline installation, ground exploration, and trenchless construction, allowing for underground operations without large-scale equipment, thereby significantly reducing construction costs and surface disruption.

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Key Features:

• An excavation housing that accommodates the excavation unit, featuring an open front end and a soil discharge outlet on the bottom.
• An excavation unit rotatably installed at the front end of the excavation housing to crush the ground and perform excavation.
• A duct unit that collects excavated soil and a blower unit that supplies air into the duct to discharge the soil.
• A four-bar linkage-based movement unit installed on the outer surface of the excavation housing that moves forward and backward through linkage motion and friction.

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This invention was developed with support from the Korea Agency for Infrastructure Technology Advancement for the development of a built-in guide type movement/work platform.