Multipurpose Autonomous Construction Robot System

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.

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Key Features:

• Multiple types of work modules that can be selectively attached to the first interface provided on each side of the robot body.
• A mobile platform equipped with a second interface for the electro-mechanical coupling of selected drive modules from various types, designed to move the robot body.
• A multipurpose autonomous construction robot system that determines the installation position of flooring materials using marker corner coordinates to control the flooring installation tasks of an articulated arm module.
• A robot body equipped with a first interface for the electro-mechanical coupling of work modules, each designed to perform a specific task selected from multiple types.

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This invention was developed with support from the Ministry of Science and ICT for the development of intelligent painting and masking collaborative robots.

Method for Calculating Robot Workspace Using the Jacobian

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.

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Key Features:

• Method for calculating the workspace of a planar robot with sequentially connected planar arms from the 1st to the nth order
• Step of assuming the 1st to (n-1)th planar arms as a planar pseudo-arm connecting the origin to the final planar joint with a straight line
• Step of assuming the planar pseudo-arm and the nth planar arm are connected in the form of a 2-DOF planar robot
• Step of calculating the workspace of the assumed planar robot using the Jacobian matrix

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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.

Joint Device

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.

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Key Features:

• A joint device comprising a first plate and a second plate spaced apart from each other
• Joint configuration including a ball joint part, a universal joint part, and a rotational joint part
• A plurality of links positioned between the first and second plates, and a plurality of stoppers to prevent link yielding
• A configuration characterized in that the plurality of links provide compliance to the joint device

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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.

Collaborative Autonomous Multi-Purpose Construction Robot System

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.

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Key Features:

• A first mobile platform equipped with a storage bin that holds flooring materials spaced at equal intervals using guide pieces.
• A material supply mechanism installed on the first mobile platform that accesses each layer of flooring material and pushes them out one by one.
• A second mobile platform connected to the first mobile platform via a coupling link, which tows the transport robot from the front.
• A gripper module installed on the second mobile platform that receives the supplied flooring materials and installs them on-site.

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This invention was developed with support from the Ministry of Science and ICT for the development of intelligent painting and masking collaborative robots.

Fracture Surgery Device and Method Based on Registration Between Surgical Robot Coordinates and Patient Coordinates

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.

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Key Features:

• b) A step of generating a first transformation matrix by performing registration between the coordinates of the proximal bone fragment and the coordinates of the C-arm X-ray imaging device based on the first C-arm X-ray image.
• c) A step of generating a second transformation matrix by performing registration between the coordinates of the proximal ring frame and the coordinates of the C-arm X-ray imaging device based on the first C-arm X-ray image.
• e) A step of generating a fourth transformation matrix, which represents the relationship between the coordinates of the distal ring frame and the coordinates of the distal bone fragment, by performing steps b) through d) for the distal bone fragment.
• a) A step of acquiring a first C-arm X-ray image of the proximal bone fragment, including the proximal ring frame.

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This invention was developed through the Ministry of Education's support for fracture surgery navigation via image-based 3D fracture modeling.

Upper Limb Assistive Robot

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.

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Key Features:

• A second arm that is rotatably coupled to the first arm about a horizontal third robot rotation axis and includes a movement point.
• A connection frame rotatably coupled to the second arm about a horizontal fourth robot rotation axis passing through the movement point.
• A fastening unit rotatably coupled to the connection frame about a fifth robot rotation axis orthogonal to the fourth robot rotation axis.
• A rotating frame rotatably coupled to the first support frame about a vertical first robot rotation axis.

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This invention was developed with support from the Ministry of Science and ICT for the commercialization of immersive human-robot multi-sensory interaction technology.

Autonomous Multi-Purpose Construction Robot System with Position-Maintaining Capability

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.

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Key Features:

• An autonomous transport robot on a first mobile platform equipped with a storage unit that holds multiple floor finishing materials separated by equidistant guide pieces.
• A second mobile platform connected to the first mobile platform via a coupling link, towing the transport robot from the front.
• A gripper module installed on the second mobile platform that extracts and installs floor finishing materials one by one.
• An autonomous work robot that extracts finishing materials by inserting the arm of the gripper module underneath the material and retracting it.

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This invention was developed with support from the Ministry of Science and ICT for the development of intelligent painting and masking collaborative robots.

Control System for Flexible Joint 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.

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Key Features:

• A full flexible joint robot dynamics unit that receives control inputs and disturbances, and outputs a control output by multiplying the control input, which reflects the disturbances, by at least one determinant.
• A control input dimension conversion unit that receives the robot's control input and converts the Cartesian coordinate system of the control input into a rotational coordinate system.
• c2 is the distance between the end of the second link and its center of gravity, and is the angle of the second link in the Cartesian coordinate system.
• A disturbance observer that calculates estimated disturbances by estimating disturbances and reflects the estimated disturbances in the control input.

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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.

Driving Support Member for Snake-like Robots

This technology is a mechanical support frame structure that attaches to the lower module of a snake-like robot to increase its contact area with the ground. It includes a seating section, side extension supports, and side-wrapping supports to provide a mechanism that prevents tipping due to shifts in the center of gravity or lateral external forces when navigating slopes.

The issue of insufficient lateral support as snake-like robots increase in length. This leads to reduced driving stability due to a higher risk of tipping when navigating slopes or encountering lateral external forces.

This technology physically expands the ground contact area through an auxiliary member attached to the underside of the snake-like robot. By utilizing the front and rear protrusions of the seating section along with primary and secondary supports, it secures the distance of the support points relative to the center of gravity, thereby improving stability on slopes. It can be applied to logistics transport, service robots, and autonomous driving platforms, improving driving stability on inclines and allowing the snake-like robot to traverse steeper slopes without rolling over.

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Key Features:

• A driving support member for a snake-like robot that supports the robot's body seated within the seating section and assists with slope navigation.
• A second support section formed on both sides of the seating section to wrap around both sides of the seated snake-like robot body.
• A first support section extending from both sides of the seating section.
• A seating section where the snake-like robot body is mounted.

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of search robot technology for confined spaces to detect victims in collapsed areas.

Needle-type microrobot

This technology is a microrobot system that includes a screw part driven by an external rotating magnetic field and a needle part coupled to a base part via an insert structure. Upon reaching the target, the protrusion length of the needle is adjusted through a mechanical groove-and-protrusion locking mechanism to ensure stable fixation.

In fluid environments, microrobots often drift from their target positions due to factors like blood flow. Preventing this typically requires continuous magnetic field control, which leads to reduced control efficiency and high computational loads.

This technology features a mechanical locking structure that houses the needle within the base during transit. Once the target is reached, the needle is extended and its length adjusted by engaging protrusions on the needle's outer surface with grooves inside the base, physically anchoring it to the target. Applicable to surgical robots, interventional systems, and medical automation, this design enhances drug delivery efficiency by increasing dosage capacity and providing an internal storage space within the microrobot.

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Key Features:

• A screw part including blades disposed on the side of the base and extending outward
• A needle part disposed at one end of the base that penetrates the target upon reaching the target area
• A coupling structure consisting of grooves on the inner surface of the base and protrusions on the needle
• A configuration where the grooves, in conjunction with the needle's protrusions, adjust the protrusion length of the needle

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for the Intelligent Microrobot-based Body-on-a-Chip for Precision Medicine project.

Multi-Degree-of-Freedom Ultra-Precision Manipulation Device

This technology is a 3-degree-of-freedom microsurgical manipulation and control system that utilizes multiple motors and a linkage structure to perform axial movement (distance/angle adjustment) and radial movement (precision targeting) of surgical instruments.

During retinal surgery, surgical instruments often enter at an acute angle rather than perpendicular to the retinal surface, which increases the risk of retinal damage and errors caused by hand tremors.

This technology implements 3-degree-of-freedom control using three motors. It calculates the coordinates of the surgical instrument tip relative to the target insertion point using angle sensors, a light source (for distance measurement), and an imaging unit to precisely calibrate position and angle. Applicable to surgical robots, interventional systems, and medical automation, it improves control precision and provides users with greater convenience when maneuvering surgical instruments.

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Key Features:

• Microsurgical manipulator featuring a first and second actuator housed within a casing
• A third actuator rotatably connected to the underside of the first and second actuators
• A surgical instrument connected to the lower part of the third actuator for approaching the target object
• Configuration where the first and second actuators move the surgical instrument axially, and the third actuator moves it radially

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This invention was developed with support from the Ministry of Science and ICT for the Multi-Degree-of-Freedom Sensing and Actuation-Based Bimanual Ultra-Precision Surgery Platform project.

Method and Apparatus for Generating Autonomous Driving Paths

This technology is an algorithm that generates waypoint-based work paths and auxiliary paths from GNSS-based manual driving data, then merges and converts them into network data to calculate the shortest autonomous driving path.

Building autonomous driving paths for agricultural machinery is costly, and there is a lack of methods that allow for universal operation across various zones without the need for high-precision maps.

This technology is an apparatus and method for generating paths that creates waypoints based on location data acquired from positioning sensors, defines each segment as start, end, straight, or turn, and merges multiple work and auxiliary paths to generate the shortest network path. It can be applied to logistics transport, service robots, and autonomous driving platforms, reducing labor costs and improving the efficiency of agricultural operations through autonomous driving.

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Key Features:

• Generating a waypoint-based work path using first location data of an object collected from a positioning sensor while the object is being manually driven along the path to be autonomously navigated.
• Generating a waypoint-based auxiliary path, which is a path other than the work path, using second location data of the object collected from a positioning sensor while the object is being manually driven.
• Generating a portion of the first location data as waypoints by using the angle between straight lines to determine whether a segment is straight.
• An autonomous driving path generation method comprising the step of applying a reference angle to define turning segments for waypoints, thereby designating the type of each waypoint as a start point, end point, straight segment, or turning segment.

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This invention was developed with support from the Ministry of Science and ICT for the development of a universal unmanned agricultural machinery platform and system based on high-precision positioning technology for open-field smart farms.

Guidewire Microrobot

This technology features a guidewire microrobot structure that is driven and steered by an external magnetic field. It is sealed by welding or soldering both ends of a hollow tube to a metal body, a core wire, and an external coil, with magnetic materials and flexible substances hermetically enclosed inside.

Conventional magnetic guidewires pose clinical safety risks, such as the potential leakage of internal magnetic particles into the body if the flexible polymer is damaged, or the wire breaking or detaching during procedures due to structural weaknesses.

This technology inserts a metal body into one end of the tube and a core wire into the other, wraps the outer surface with a coil, and then uses welding or soldering to physically seal both ends. This prevents the leakage of magnetic materials and flexible substances while enhancing structural integrity. Applicable to industrial robots and automated systems, the interference fit between the metal components and the coil seals one end of the tube, thereby improving clinical safety and preventing detachment.

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Key Features:

• The length of the section within the tube containing the flexible substance is longer than the section containing the magnetic material, with the core wire inserted into the other end of the tube.
• A guidewire microrobot characterized in that the portion of the core wire inserted into the tube is positioned within the flexible substance and is spaced apart from the magnetic material.
• The metal body and coil are fixedly coupled to seal one end of the tube, with the flexible substance housed inside the tube.
• A magnetic material disposed between the metal body and the flexible substance.

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This invention was developed with support from the Ministry of Health and Welfare for the development of a microrobotic guidewire system for peripheral vascular intervention.

Flexible Hinge Component

This technology features a spherical robot equipped with multiple flexible hinge components, each featuring an X-shaped cross-beam or spring structure on its exterior. These components absorb impact from all directions upon impact, while internal links and actuators allow the robot to switch between throwing mode (spherical) and movement mode (separated/rotating).

Conventional throwable robots are complex to manufacture, often combining multiple leaf springs and rubber supports. While they may absorb lateral impacts, they often fail to mitigate vertical shocks, leaving wheels and internal electronic components vulnerable to damage.

This technology utilizes flexible hinge components made of elastic X-shaped cross-beams or springs, arranged in a grid pattern on the spherical housing to ensure omnidirectional shock absorption. A control unit processes real-time speed and orientation data from sensors to adjust internal counterweights, ensuring the shock-absorbing sections are positioned to mitigate anticipated impact points. Applicable to industrial robots and automation systems, this design provides a throwable, small-scale spherical robot with enhanced shock absorption and a specialized housing for movement and rotation, improving upon the monitoring and cost-efficiency of existing robotic solutions.

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Key Features:

• A plate-shaped buffer surface that receives impact and a plate-shaped support surface spaced apart from it
• A hinge section connected to the buffer and support surfaces to dampen the force transmitted from the buffer surface
• The hinge section includes a spring with one end coupled to the buffer surface and the other to the support surface
• A structure where a shock-absorbing unit, formed by linearly coupled flexible hinge components, is attached to the exterior of the robot housing with a gap

Robot Arm Control Device and Method

This technology is a grasping control method for robot arms that uses an optical tracker and a world marker placed within the workspace as a reference point. By calculating coordinate system transformation matrices between the robot tool tip, the world marker, and the target marker in multiple stages, this geometric control method determines the precise target position of the tool tip, even if the tracker's position changes or the robot and target are not within the same field of view.

Conventional eye-to-hand calibration requires a fixed tracker position, which limits the flexibility of the work environment. Furthermore, technologies that require the robot marker and target marker to be recognized simultaneously within a single field of view have significant limitations regarding the operating range.

This technology derives a third transformation relationship by converting the tool tip coordinates of the robot arm and the position coordinates of the target marker based on a world marker. By using a world marker with a polyhedral or curved structure that is easily recognizable from multiple angles, it increases the installation flexibility for the optical tracker and controls robot motion by establishing relational expressions between the robot base, arm end, tool tip, and robot marker. It can be applied to logistics picking, service robots, and manufacturing automation, improving robot arm control in diverse environments and allowing for clear marker recognition from various directions.

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Key Features:

• A method where at least a portion of each step is performed by a processor, comprising the step of determining a first transformation relationship, which is the coordinate system transformation relationship between the world marker and the robot arm's tool tip
• The step of determining a fourth transformation relationship, which is the coordinate system transformation relationship between the robot marker located on the robot arm's end effector and the tool tip
• The step of determining a second transformation relationship, which is the coordinate system transformation relationship between the world marker and the target marker located on the target
• The step of determining a fifth transformation relationship, which is the coordinate system transformation relationship between the robot marker and the arm end portion

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of intelligent controller technology applicable to various commercial articulated robots and specialized for bin-picking and loading/unloading tasks.