This technology implements a 6-DOF air hole drilling system optimized for 3D irregular mold surfaces by combining a sliding joint (2-DOF) that moves along a curved rail based on a spherical coordinate mechanism with a rotary joint (4-DOF) that controls the drilling tool.
Conventional radial drilling machines are limited to vertical machining, making them unsuitable for irregular curved surfaces. Relying on manual labor leads to reduced efficiency, increased processing time, bottlenecks, and inconsistent production quality.
This technology positions the manipulator on a curved coordinate system using cross-arranged curved rails and sliding joints. It performs automated drilling by driving rotary and linear joints based on control signals derived from drawing analysis and simulation. Each joint is equipped with an electronic brake to maintain high rigidity during drilling. Applicable to industrial robots and automation systems, it improves the reliability of mold air hole machining and production speed by moving the robot manipulator along the curved coordinate system.
This invention was developed with support from the Ministry of Science, ICT and Future Planning for research on neural robot technology based on physical and cognitive interaction.
This technology is a robot control system that manages robot movement via a user-worn device consisting of motion sensors and an HMD that tracks eye status, adjusting the robot's motion restriction range based on the user's eye state.
When remotely controlling a humanoid robot using only user gestures, safety accidents can occur because the robot continues to mirror the user's movements even when the user is not actively monitoring the robot's situation.
This technology proposes a method that uses the HMD's eye-tracking camera to determine if the user's eyes are closed, thereby controlling the robot's motion restriction range while streaming the robot's camera feed directly to the HMD. Applicable to remote-operated robots and hazardous task automation, it prevents malfunctions when the user is not looking, ensuring both safety and operational stability.
This technology is a navigation device for an underwater image processing unit that saves images and locations as checkpoints during free movement, and calculates and corrects relative position errors by comparing real-time captured images with stored images during retracing.
Using dead reckoning in underwater environments leads to cumulative sensor errors, limiting accurate positioning. In particular, there has been a lack of means to correct a robot's position in featureless underwater environments.
This technology proposes a method that uses feature point matching when feature points are detected in an image, and applies a Fourier transform to derive position errors when they are not. It can be applied to underwater exploration robots and marine structure inspection equipment, ensuring reliability in returning accurately to the original path even in homogeneous underwater environments without feature points.
This technology is a control method that detects the joint torque of a redundant robot manipulator in real-time and compares it with estimates based on a dynamic model to separate normal force-control reaction forces from abnormal external forces, automatically switching the operation mode during abnormal situations.
Existing force-controlled robots based on joint torque sensors struggle to clearly distinguish between normal task reaction forces and abnormal external collision forces, making it impossible to implement efficient control for preventing safety accidents and protecting the robot during collisions.
This technology proposes a method that constructs an external force estimation observer using joint torque sensor data and a Jacobian matrix, filters out task reaction forces, extracts abnormal external force torque, and calculates a collision detection index. It can be applied to collaborative robots and assembly automation equipment, significantly improving safety by accurately identifying collisions while maintaining normal operations.
This technology enhances target assignment accuracy by first calculating probabilities through primary matching of multiple measured legs extracted from distance sensors with target legs using the SJPDAF technique, followed by secondary posterior probability calculation through leg-pair based grouping.
Existing technologies often treat leg measurements as independent targets or simply group the two closest legs, which leads to tracking errors in crowded environments when target legs are swapped or only a single leg is detected.
This technology introduces a new posterior probability calculation algorithm that considers not only individual elements but also combinations of two legs by adding a leg-pair grouping step to the existing matching process. It can be applied to service robots that follow people, such as guide robots and luggage transport robots, ensuring stable tracking of the target person without losing them even in crowded spaces.
This technology features a mobile robot capable of navigating fluid environments by utilizing a motor and impeller positioned along the central axis of a cylindrical open-frame structure, allowing for self-propulsion while maintaining fluid flow. A crushing unit at the front of the motor shaft and an impeller at the rear enable the robot to simultaneously break down, collect, and clear debris while in motion.
Existing robots used in narrow pipes or fluid environments often obstruct fluid flow and struggle to efficiently combine self-propelled movement, data collection, and debris removal.
This technology introduces a cylindrical body with open front and rear ends, a propulsion structure that minimizes flow resistance using a motor and impeller, a rotating shaft-linked debris crusher, and a rear debris collection unit. Air bearings installed on the outer wall prevent collisions and maintain stability, allowing the robot to navigate pipe interiors reliably. Applicable to the inspection and cleaning of water mains and piping systems, it significantly reduces maintenance costs by performing movement and debris removal simultaneously without disrupting fluid flow.
This technology is a flapping-based underwater robot that achieves combined twisting and bending motions within a flexible base material through the physical integration of intelligent materials that respond to external control signals and directional materials that restrict deformation in specific directions.
Existing structures based on intelligent materials are limited to linear or out-of-plane bending, and technical challenges regarding miniaturization and continuous motion have persisted due to complex structural designs and bulky drive components.
This technology proposes a method to induce a difference in twisting angles between the first and second strokes by designing the placement of intelligent materials and the physical orientation of directional materials. This allows for efficient underwater thrust generation without the need for complex joints or multiple motors. It can be applied to underwater exploration, marine monitoring, and small underwater drones, achieving both miniaturization and low power consumption by utilizing material properties for propulsion instead of complex mechanical parts.
This invention was developed with support from the Ministry of Education, Science and Technology for biomimetic soft morphing-based technology and the development of design and production technology for multi-scale, multi-deployable collaborative robots.
This technology is a SLAM system that generates an initial SLAM map frame by receiving environmental photos and information from a user terminal, and subsequently expands and modifies the map by integrating sensor data collected as the mobile robot navigates.
Conventional SLAM requires robots to explore the entire environment to build a map, which is time-consuming and inefficient, as it often necessitates repeating the entire mapping process to modify or expand parts of an existing map.
This technology proposes a method that uses environmental photos taken from a user terminal to set landmarks and create a basic map framework in advance. When a command to modify or expand the map is received, it performs local updates based on photos of specific areas or moves to the location to integrate real-time data. This reduces mapping time and enables efficient map management. Applicable to home service robots and indoor delivery robots, it significantly reduces initial setup time and enhances user convenience by securing the basic map framework using only photos provided by the user.
This technology is a manual lift mechanism that utilizes the elastic energy of a leaf spring. It uses a trigger and wire system to control the locking state of a ratchet and pawl, assisting in the lifting and positioning of objects.
Conventional electric lift systems require an external power source, and the use of motors and precision gears leads to high manufacturing costs and installation limitations.
This technology features a dual-ratchet and double-clutch pawl actuator system to mechanically control the winding and unwinding power of a leaf spring. It allows for lifting or securing heavy objects through simple trigger operation without the need for electricity. It can be applied to exoskeleton robots, industrial strength-assist devices, and logistics operations, reducing manufacturing costs and installation constraints by eliminating the need for electrical power.
This technology is a robotic prosthetic structure based on a 5-bar linkage that attaches to the proximal phalanx of an amputated finger and is powered by the user's own movement.
Conventional robotic prosthetics often stop moving upon contact when grasping objects, leading to unstable grip, or require external actuators, which limits the implementation of prosthetics powered by the body's own movement.
This technology applies a 5-bar linkage mechanism designed to automatically adapt to the shape of an object upon contact by separating the links responsible for flexion/extension and grasping, and incorporating elastic members and angle-limiting elements. It can be applied to prosthetics, rehabilitation aids, and wearable devices, enhancing grasping capability by adapting to various shapes without the need for external actuators.
This invention was developed with support from the Ministry of Education for research on replaceable bio-finger systems.
This technology features magnetic induction coils arranged radially beneath the patient bed. By generating a variable magnetic field, it enables wireless steering and propulsion of surgical microrobots or catheters inserted into the body.
Conventional setups operate X-ray imaging equipment and magnetic guidance devices separately, leading to bulky hardware, poor space utilization, and hardware interference that limits surgical precision.
This technology integrates the X-ray imaging unit and magnetic guidance system into the surgical bed. The magnetic induction coils are designed for radial arrangement and mobility, allowing for a compact system that performs precise magnetic steering under real-time image guidance. Applicable to surgical robots, interventional procedure systems, and medical automation, it provides real-time visualization of the affected area, minimizes the size of the magnetic guidance components, and maximizes space efficiency to enhance surgical workflow.
This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of a microrobotic system for the treatment of chronic total occlusion in myocardial infarction.
This technology improves parameter identification efficiency by collecting robot position and torque data, removing noise using zero-phase low-pass filters and the RLOESS algorithm, and generating optimized excitation trajectories that reduce computational complexity through the use of Hadamard's inequality.
Conventional methods for designing excitation trajectories for robot dynamic parameter estimation have faced challenges with high optimization computational complexity and long processing times as the number of parameters increases.
This technology introduces optimized signal processing steps (zero-phase low-pass filtering and RLOESS smoothing) for position, velocity, acceleration, and torque data, and implements an excitation trajectory generation algorithm with high computational efficiency by applying Hadamard's inequality during the determinant optimization process. Applicable to industrial robots and automation systems, it enhances the accuracy of dynamic parameter estimation while reducing complexity and operational time for parameter optimization.
This invention was developed with support from the Ministry of Science, ICT and Future Planning for the development of renewable energy and intelligent robot convergence technology.
This technology is a movement path control device that receives signals from multiple signal generators located on a boundary line to calculate the distance between an object and each signal generator, and analyzes changes in distance differences and sums to determine the object's angle of incidence and whether it has crossed the boundary.
Existing systems have struggled to maintain stable work zones because it is difficult to determine and control in real-time when an autonomous object deviates from a designated boundary.
This technology proposes a method that determines if the angle of incidence relative to the boundary is perpendicular based on changes in the distance difference between two signal generators, and detects boundary deviation based on changes in the distance sum. It can be applied to robotic lawnmowers and outdoor autonomous work machines to accurately maintain work zones without the need for physical fences.
This technology is a device that estimates the 3D position of an end-effector by measuring the hydrostatic pressure differential at the joints of an underwater robotic hydraulic manipulator to calculate the vertical displacement of each joint link, combined with yaw angle data measured by a compass.
In turbid underwater environments, camera-based position estimation is difficult, and conventional rotary encoder methods are unsuitable for the harsh operating conditions of hydraulic manipulators, leading to challenges in achieving precise position tracking.
This technology proposes a method that calculates vertical displacement using hydrostatic pressure differentials and the specific weight of water, determines the pitch angle and horizontal displacement of joint links based on these values, and derives the roll angle using an offset pressure gauge. It can be applied to underwater work robots and offshore plant maintenance, enabling accurate tracking of manipulator posture even in environments with zero visibility.
This invention was developed with support from the Smart Underwater Tunnel System Research Center of the Ministry of Science and ICT.
This technology generates paths for multiple mobile robots based on driving priority. When a collision is predicted during operation, it recalculates the path of the lower-priority robot to prevent deadlocks in dynamic environments and maintain optimal routing.
Existing decentralized path planning methods typically address collisions or deadlocks by modifying paths or simply adjusting speed, which often fails to effectively manage mutual path interference or resolve persistent deadlocks.
This technology establishes driving priority by integrating initial priority, path cost, and mission importance. When a collision is predicted, it recalculates the path of the lower-priority robot by accounting for node and edge occupancy time. Applicable to multi-robot operations in logistics warehouses and smart factories, it fundamentally prevents line stoppages caused by deadlocks and maximizes overall throughput.
