Curtain Wall Climbing Mobile Module Combining Sliding Wheel Adhesion and Rack-and-Pinion Clutch

This technology is a mobile module for climbing robots that moves along pre-installed guide rails on curtain wall structures. It uses the rotational force of the drive unit to press the sliding wheels against the guide surface for secure adhesion, while simultaneously transmitting driving force via a rack-and-pinion and cam mechanism to perform movement.

Existing suction-based or magnetic exterior wall climbing robots pose a high risk of falling in the event of an operational error and are difficult to apply universally to various curtain wall structures. Furthermore, manual exterior wall maintenance methods carry risks of industrial accidents and suffer from low cost-efficiency.

This technology proposes a mobile module that includes a pair of sliding wheels that adhere to guide grooves, a cam-based separation unit, and a mechanical clutch structure using a rack-and-pinion system, enabling secure fixation and movement without relying on suction force. It can be applied to the exterior maintenance of curtain wall buildings, allowing for stable high-rise operations without the risk of falling.

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Key Features:

• A pair of sliding wheels that move while pressed against the guide surface of the drive unit and guide rail
• A power transmission unit that transfers rotational force from the drive unit to move each sliding wheel along the guide surface
• A separation unit that causes the sliding wheels to press against the guide surface using rotational force from the drive unit
• A mechanical clutch structure that controls power transmission via a rack-and-pinion system

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This invention was developed with support from the Korea Agency for Infrastructure Technology Advancement for the development of an intelligent robot system for high-rise building exterior maintenance.

Exterior Wall Climbing Device with Docking Mechanism for Lift and Horizontal Movement Units

This technology is a climbing device that moves along vertical and horizontal rails installed on building exteriors. It performs vertical and horizontal movement through a docking mechanism between a lift unit and a horizontal movement unit, with a docking guide unit ensuring smooth engagement.

Maintaining the exterior of skyscrapers poses risks of worker falls, inefficiencies in manual labor, and inconsistent quality. Existing suction-based robots suffer from poor adaptability to building shapes and difficulties in preventing falls during operational errors.

This technology proposes a system that separates the lift unit, which travels on vertical rails, from the horizontal movement unit, which travels on horizontal rails. It optimizes the coupling mechanism using a docking guide equipped with conveyor belts and rollers, and ensures stability during ascent and descent through inchworm-style propulsion. It can be applied to exterior cleaning and inspection of skyscrapers, fundamentally eliminating industrial accident risks by replacing manual high-altitude work.

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Key Features:

• A lift unit capable of vertical movement along a pair of vertical rails installed on the building exterior
• A horizontal movement unit that travels along a pair of horizontal rails
• A configuration that moves between the docking entry position and the docking completion position to dock with the lift unit
• A docking guide unit that employs a structure of multiple transport rollers and conveyor belts to guide the docking process

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This invention was developed with support from the Korea Agency for Infrastructure Technology Advancement for the development of intelligent robot systems for high-rise building exterior maintenance.

Sinus Surgery Endoscopic Robot Combining a 5-DOF Robot Arm with a Wire-Driven Articulated Endoscope

This technology is a multi-jointed robotic system for sinus surgery. The 5-DOF robot arm mechanism transports and supports a flexible endoscope unit, while an internal wire-driven mechanism controls the articulation angle of the endoscope tip, automating the securing and visualization of the surgical field.

Existing rigid endoscopes suffer from blind spots, while flexible endoscopes face limitations in bending angles and stability, forcing surgeons to manually adjust positions while simultaneously operating surgical tools, which creates significant operational challenges.

This technology utilizes a 5-DOF motion unit (vertical/horizontal movement and rotation) to precisely position and secure the endoscope. By incorporating a ball-screw-based advancement mechanism and a wire-driven system, it establishes an automated platform that actively controls the articulation angle of the endoscope tip. Applicable to sinus surgery, endoscopic procedures, and medical automation, it enhances surgical visibility and precision by automatically controlling endoscope positioning and bending angles.

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Key Features:

• Flexible endoscope unit designed for insertion into the nasal cavity to observe the sinuses
• Motion unit for moving and rotating the flexible endoscope unit, and a control unit for managing the motion unit's operation
• Flexible endoscope unit structure comprising a distal tool section, an articulating section behind the tool section, and a support section behind the articulating section
• Detection unit for sensing the patient's nostrils and sinus positions, and a calculation unit that computes these coordinates and transmits them to the control unit

4-DOF Parallel Needle Insertion Device with Singularity Avoidance via Asymmetric Arrangement of Active and Passive Prismatic Links

This technology is a 4-DOF parallel mechanism consisting of a base and a platform connected by four active prismatic links and one passive prismatic link. The passive prismatic link constrains translational motion in two directions, while the four active prismatic links are arranged asymmetrically to prevent singularities, enabling three rotational degrees of freedom and one translational degree of freedom.

Existing serial robots suffer from cumulative error issues, while 6-DOF parallel mechanisms are inefficient due to excessive degrees of freedom and structural complexity. Specifically, control instability arises from singularities encountered when implementing the 4 degrees of freedom (3 rotation, 1 translation) required for needle insertion.

This technology uses one passive prismatic link to constrain two translational degrees of freedom and arranges four active prismatic links asymmetrically to prevent singularities. Independent and simultaneous control of the four active prismatic links via actuators allows for precise needle positioning and insertion. Applicable to precision surgical robots, needle insertion procedures, and medical automation, it ensures control stability for parallel manipulators by eliminating singularities.

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Key Features:

• A 4-DOF parallel mechanism comprising a base and a platform positioned at a distance from the base.
• Four active prismatic links, each with one end and the other end rotatably connected to the base and platform, respectively, and featuring a 1-DOF active prismatic joint.
• A passive prismatic link with one end connected to the base via a 3-DOF joint and the other end fixed to the platform, featuring a 1-DOF passive prismatic joint.
• A structure that achieves 4 degrees of freedom by constraining translational motion in two directions using the passive prismatic link.

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This invention was developed with support from the Ministry of Commerce, Industry and Energy's 2008 research project on the optimization of high-efficiency motor systems.

Catheter-Mounted Microrobot

This technology is a microrobot mounted on the tip of a catheter, consisting of a drill unit rotatably coupled to the central shaft of a flexible base and a head unit at the distal end. It features an independent drive mechanism where the drill unit generates thrust (drilling) via an external rotating magnetic field, while the head unit bends to control direction (steering) via an external steering magnetic field.

Conventional technology uses magnetic torque to bend the entire wire, which requires a large magnetic element at the tip and a high-intensity magnetic field (e.g., 800mT). This limits the miniaturization of the catheter diameter and increases procedure time, thereby raising the risk of radiation exposure for the patient.

This technology utilizes a flexible base and a central shaft, allowing for efficient bending even with low magnetic fields in the 10–20mT range. By equipping the drill unit and the head unit with separate magnetic elements, drilling and steering functions are controlled independently, ensuring miniaturization and procedural efficiency. Applicable to surgical robots, interventional systems, and medical automation, this technology provides a catheter-mounted microrobot with smaller magnetic materials and a thinner catheter, improving the efficiency of atherosclerosis treatment.

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Key Features:

• In a catheter-mounted microrobot applied to a catheter control system that remotely pushes or pulls a catheter to be inserted into a patient's lesion, a base unit that is detachably coupled to a protrusion of the catheter and includes a central shaft
• A drill unit that is rotatably coupled to the central shaft and includes a first magnetic element or is coated with a first magnetic element on its exterior, configured to perform a drilling function by generating magnetic torque via an external rotating magnetic field
• A head unit having a larger diameter than the end of the central shaft to restrict the movement of the drill unit
• A drill unit that includes a first magnetic element or is coated with a first magnetic element on its exterior

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This invention was developed with the support of the Ministry of Trade, Industry and Energy for the development of a micro-medical robot system for the treatment of chronic total occlusion in myocardial infarction.

Obstacle Avoidance System and Method for Mobile Robots

This technology is a system that controls the integrated velocity vector of a mobile robot in real time. To overcome the local minimum and chattering issues associated with artificial potential field techniques, it generates variable switching signals based on the distance and relative angle between the robot and obstacles, combining these with repulsive and attractive force vectors.

Existing potential field-based obstacle avoidance methods often suffer from reduced efficiency and delays due to robots getting stuck in local minima or experiencing control input oscillations (chattering) when approaching obstacles.

This technology is a control system and method that optimizes paths in real time by calculating first (circular), second (supplementary), and third (non-circular) switching signals based on obstacle shape, and fusing them with repulsive and attractive force vectors derived by a vector calculation unit to determine the robot's integrated velocity vector. Applicable to rehabilitation training, gait assistance, and medical/welfare services, it improves the efficiency and reliability of obstacle avoidance in mobile robots by resolving issues such as local minima, oscillations, and chattering.

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Key Features:

• A signal generation unit that, when an obstacle is detected by the sensing unit, generates a switching signal determined by considering the shape of the obstacle, the distance between the mobile robot and the obstacle, and their relative angle.
• A vector calculation unit that computes the repulsive force vector between the mobile robot and the obstacle, and the attractive force vector between the mobile robot and the target point, using location information obtained from the position acquisition unit.
• A position acquisition unit capable of obtaining location information for the mobile robot, obstacles, and the target point.
• A path determination unit that decides the movement path of the mobile robot using the attractive force vector and the switching signal.

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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.

Collision Detection Technology for Sensorless Manipulators Combining Torque Filtering and Property Calibration

This technology is a collision detection device and control method that calculates and detects external collision forces in real-time without acceleration data. It works by filtering joint torque values measured from torque sensors or motor currents and comparing them with predicted values based on a mathematical model that utilizes the manipulator's physical properties, position, and velocity.

In the absence of acceleration sensors, calculating acceleration data through the second derivative of joint position values is susceptible to noise, and errors in the robot's physical properties have historically led to performance degradation or malfunctions in collision detection.

This technology proposes a method that applies filtering to joint torque to implement a mathematical model that excludes acceleration terms, while performing real-time calibration of physical property data through calculations based on whether an object is being gripped. Applicable to collaborative robots and industrial manipulators, it enables accurate collision detection that accounts for the state of carrying an object, even without acceleration sensors.

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Key Features:

• Torque filter that processes joint torque values measured from torque sensors or drive motors
• Predictive calculation unit that estimates filtered torque values using the manipulator's physical properties, position, and velocity data
• System that calculates external collision forces by comparing values from the torque filter and the predictive calculation unit
• Model identification unit that performs physical property correction calculations based on whether a workpiece is being gripped

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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.

RRT-based Mobile Robot Trajectory Planning Technology Using Dual Trees for Workspace and State

This technology is an RRT-based trajectory planning method that plans paths for mobile robots using a dual-tree structure combining a workspace tree and a state tree. It generates optimal trajectories considering dynamic constraints by identifying neighboring nodes for newly sampled points and selecting parent nodes with optimized costs.

Existing RRT-based path planning techniques have faced limitations in performance optimization due to high computational costs in environments with differential constraints or the complexity of designing distance metrics for searching the nearest nodes.

This technology proposes a method that manages the tree structure by separating the workspace and state, implements logic for searching optimal parent nodes to calculate minimum path costs when sampling new points, and executes node reconnection procedures. It can be applied to autonomous vehicles and non-holonomic robots, finding optimal trajectories while adhering to dynamic constraints without excessive computational burden.

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Key Features:

• Randomly sampling arbitrary new points in the mobile robot's workspace
• Extracting new workspace nodes and adjacent workspace nodes corresponding to the new points
• Extracting state nodes corresponding to the parent nodes of adjacent nodes from the state tree and registering them as candidate state nodes
• Configured to generate trajectories by selecting the optimal parent node with the minimum path cost among candidate state nodes

유도 영역과 위험 영역의 인력·척력 비용을 이용한 로봇 주행 경로 계획 기술

본 기술은 환경을 격자로 분할하여 안전성을 보장하는 유도 영역과 충돌 위험이 높은 위험 영역으로 구성된 정보 격자 지도를 생성하고, 각 격자에 대해 인력과 척력 기반의 주행 비용을 산출하여 최저 비용 경로를 도출하는 로봇의 주행 경로 계획 장치 및 방법입니다.

종래의 최단 거리 기반 경로 계획 방식은 사람과의 충돌 가능성이나 실생활 환경의 복잡한 돌발 장애물을 고려하지 않아 이동 효율성과 안전성이 저하되는 문제점이 있었습니다.

본 기술은 지도 작성부로 유도 영역과 위험 영역을 격자 단위로 정의하고 비용 산출부에서 유도 영역에 대한 인력 비용과 위험 영역에 대한 척력 비용을 합산하여 최종 주행 비용을 결정하며 실제 주행 데이터로 상수를 동적 보정하는 방식을 제안합니다. 사람과 공존하는 실내 서비스 로봇에 적용될 수 있어 최단 거리보다 안전하고 사회적으로 자연스러운 이동을 실현합니다.

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Key Features:

• 주변 환경을 다수개의 격자로 분할하여 점유 영역 및 비점유 영역을 표시하는 지도 작성부
• 주행 안정성을 보장하는 유도 영역과 충돌 위험성이 높은 위험 영역을 설정하여 정보 격자 지도를 작성하는 구성
• 유도 영역에 대한 인력 비용과 위험 영역에 대한 척력 비용을 합산하는 비용 산출부
• 인력 비용과 척력 비용을 합산하여 산출된 주행 비용이 최저가 되는 경로를 도출하는 구성

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본 발명은 연구지원부의 센서융합 기반의 환경 적응형 실내 주행, 연구지원부의 서비스로봇용 자율 지능형 머니퓰레이션 지원을 통해 개발되었습니다.

Master-Slave System Using a 4-DOF Parallel Mechanism with 1-DOF Translation and 3-DOF Rotation

This technology is a master-slave system that enhances operational feel and positioning precision during delicate tasks by applying a 4-DOF parallel mechanism—providing 1-DOF translational and 3-DOF rotational motion—to both the master and slave devices. The master device detects user movement through a spherical mechanism (3-DOF) and a translational link (1-DOF), while the slave device performs precise tasks such as needle insertion via a parallel link and guide link. A control unit provides force-reflection (haptic) feedback.

Serial robots suffer from low precision due to inertia and cumulative errors, while existing 3-DOF or 6-DOF parallel mechanisms often face issues with reduced efficiency and hardware complexity due to degree-of-freedom mismatches in specific precision tasks like needle insertion.

This technology aligns degrees of freedom by designing an identical 4-DOF parallel mechanism (3-DOF rotation, 1-DOF translation) for both the master and slave ends. It increases structural rigidity by introducing a rack-and-pinion-based sliding joint and a spherical mechanism where rotational axes intersect at a single point. Precise haptic feedback is delivered to the user through reaction force signal control using force sensors and actuators. It can be applied to precision surgical robots, needle insertion procedures, and remote manipulation, ensuring high efficiency in delicate tasks by improving operational feel and positioning accuracy.

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Key Features:

• A slave device comprising a parallel link unit connected between a slave base and a movable part to enable 3-DOF rotational and 1-DOF translational motion of the movable part relative to the slave base, and a guide link unit that directs the translational motion of the movable part.
• A parallel link unit connected between a slave base and a movable part to enable 3-DOF rotational and 1-DOF translational motion of the movable part relative to the slave base.
• A master device comprising a translational link unit connected to an input part to enable 1-DOF translational motion of the input part relative to a master base.
• A spherical mechanism connected between a master base and an input part to enable 3-DOF rotational motion of the input part relative to the master base.

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This invention was developed with support from the Basic Research Support Program for research on intelligent continuum robot theory and applications.

Robot Joint Mechanism Implementing Independent Torque per Joint via Pulley-Based Wire Winding

This technology is a mechanism that improves wire-driven systems in multi-joint robots to achieve independent force transmission for specific joints. By applying an alternating winding method (pulley principle) around winding components (pulleys or protrusions) between multiple joint bodies, it enables independent torque control for each joint, achieving independent joint operation and robot miniaturization without the need for spring stiffness adjustments.

Conventional technology relies on wire tension for joint actuation, where serial connection of multiple joints causes wire tension to interfere with downstream joints. To resolve this, spring stiffness must be designed differently, which increases design complexity as the number of joints grows and limits robot miniaturization and the implementation of high degrees of freedom due to component thickness imbalances.

This technology utilizes the movable pulley principle by equipping the first joint body with at least two first winding components and the second joint body with at least one second winding component, winding the wire alternately around them. This increases the ratio of force applied to the joint relative to the tension of the wire drive, optimizing independent rotation angle control and drive efficiency for specific joints while minimizing inter-joint interference. Applicable to multi-joint robots, collaborative robots, and precision manipulators, it achieves independent joint operation and miniaturization without requiring spring stiffness adjustments.

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Key Features:

• Multiple wires for guiding the rotation angles of multiple joint bodies and a wire drive unit for actuating them
• A first joint body and a second joint body arranged spaced apart from each other, with the second joint body positioned closer to the wire drive unit than the first joint body
• At least two first winding components around which a first wire is wound to guide the rotation angle of the first joint body
• A structure including at least one second winding component on the second joint body around which the first wire is wound, with the first wire being wound alternately

Work Device for Assembly Processes

This technology is an end-effector mounted on a manipulator tip. It includes a moving part that presses and grips flexible objects through vertical motion driven by a drive unit, and a fixed part equipped with a support plate where the flexible object is seated. Through fine-adjustment and fixed-adjustment units, it enables multi-degree-of-freedom fine movement—including forward/backward, left/right, and rotational motion—during the fastening of flexible objects, allowing for precise assembly.

Existing industrial grippers are composed of rigid bodies, making precise position control and gripping force regulation difficult when handling flexible objects. They are often unable to fasten connectors located deep within a board, while high-end multi-degree-of-freedom robotic hands are complex to control and lack cost-effectiveness.

This technology uses a ball-screw-based vertical drive moving part and a fixed part to grip flexible objects. It provides degrees of freedom for the object's position through a fine-adjustment unit (forward/backward, left/right, rotation) utilizing ball plungers and elastic elements, along with a fixed-adjustment unit. A force sensor module regulates gripping force in real-time to prevent damage to the flexible object and improve fastening success rates. Applicable to logistics picking, service robots, and manufacturing automation, it improves the gripping and coupling of flexible bodies to connectors, enhancing the success rate of insertion through precise position control.

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Key Features:

• A work device for assembly processes that moves a flexible object via a manipulator to fasten it to a connector, comprising a body installed on the manipulator to move toward the connector, and a drive unit installed inside the body.
• A work device for assembly processes including a fine-adjustment unit installed on the upper side of the body, which provides degrees of freedom to the flexible object through forward/backward, left/right, and rotational movement.
• A fixed part with one end installed on the lower side of the body and the other end positioned below the moving part, equipped with a support plate on its upper surface for the flexible object to be seated.
• A moving part installed on the lower side of the body that moves vertically via the drive unit to press and grip the flexible object.

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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 working robots.

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.

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.