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公开(公告)号：KR1020140093106A
公开(公告)日：2014-07-25
申请号：KR1020130005495
申请日：2013-01-17
Applicant: 삼성전자주식회사
IPC: H01L27/115 , H01L21/8247
CPC classification number: H01L27/11582 , H01L21/823475 , H01L21/823487 , H01L27/0688 , H01L27/11578 , H01L29/7926
Abstract: A three-dimensional flash memory device is provided. The three-dimensional flash memory device includes information storage structures disposed on a semiconductor substrate; a common source line structure in contact with the semiconductor substrate between the information storage structures; and etch-stop patterns, select lines, and word lines stacked on the semiconductor substrate around the information storage structures and the common source line structure.
Abstract translation: 提供三维闪存装置。 三维闪存装置包括设置在半导体衬底上的信息存储结构; 与信息存储结构之间的半导体衬底接触的公共源极线结构; 以及围绕信息存储结构和公共源极线结构堆叠在半导体衬底上的蚀刻停止图案，选择线和字线。
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Patent Agency Ranking
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公开(公告)号：KR1020120137229A
公开(公告)日：2012-12-20
申请号：KR1020120053489
申请日：2012-05-21
Applicant: 삼성전자주식회사
CPC classification number: B62D57/032
Abstract: PURPOSE: A system and method for controlling the balance of a robot are provided to stably maintain the balance of a robot even under disturbance by controlling the posture of an upper body. CONSTITUTION: A system for controlling the balance of a robot is as follows. The posture angle of an upper body and the angles of multiple joint units are detected(311). The current posture is obtained based on the detected angles(312). A posture error is calculated based on one or more postures among multiple freedom degrees in translation motions and a pre-set target posture(315). Compensation force to the freedom degrees in translation motions is calculated based on the posture error(316). The target torque to the one or more freedom degrees in translation motions is calculated based on the compensation force(317). The target torque is outputted to the joint units, and the balance of a robot is controlled(318). [Reference numerals] (311) Setting target capture point, target posture angle, and target hip height; (312) Detecting current posture angle, joint angle, power, and torque; (313) Obtaining center of gravity; (314) Obtaining current capture point, current posture angle, and current hip height; (315) Calculating capture point error, hip height error, and posture angle error; (316) Calculating compensation force and moment; (317) Calculating torque applied to multiple joint units; (318) Controlling motion of robot by outputting calculated torque to joint units; (AA) Start; (BB) End
Abstract translation: 目的：提供一种用于控制机器人平衡的系统和方法，以通过控制上身的姿势来稳定地保持机器人的平衡。 构成：用于控制机器人平衡的系统如下。 检测上身的姿态角度和多个关节单元的角度（311）。 基于检测到的角度（312）获得当前姿势。 基于平移运动的多个自由度中的一个或多个姿势和预设的目标姿势来计算姿势误差（315）。 基于姿态误差计算出平移运动自由度的补偿力（316）。 基于补偿力计算到平移运动中的一个或多个自由度的目标扭矩（317）。 目标扭矩被输出到关节单元，并且控制机器人的平衡（318）。 （311）设定目标捕获点，目标姿势角和目标臀部高度; （312）检测当前姿势角，关节角度，功率和扭矩; （313）获取重心; （314）获取当前捕获点，当前姿势角度和当前臀部高度; （315）计算捕获点误差，臀部高度误差和姿势角误差; （316）计算补偿力和力矩; （317）计算施加到多个关节单元的扭矩; （318）通过将计算出的扭矩输出到接头单元来控制机器人的运动; （AA）开始; （BB）结束
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公开(公告)号：KR1020120071020A
公开(公告)日：2012-07-02
申请号：KR1020100132595
申请日：2010-12-22
Applicant: 삼성전자주식회사
IPC: B25J9/16 , B25J9/00 , B62D57/032
CPC classification number: B62D57/032 , B25J9/162 , B25J9/1664 , G05B2219/40244 , B25J9/0009
Abstract: PURPOSE: A walking robot and a control method thereof are provided to obtain stable and natural walking by adding a toe-off state of supporting legs. CONSTITUTION: A method for controlling a walking robot is as follows. When a first leg is in a swing state and a second leg in a support state, the second leg is transited to a toe-off state if force against the ground applied to the first leg exceeds a first set value(404). When the second leg is in the toe-off state, the second let is transited to the swing state and the first leg is in the support state if the force against the ground applied to the second leg is below a second set value(406). The robot walks by repeating the transition of the swing state, the support state and the toe-off state.
Abstract translation: 目的：提供一种步行机器人及其控制方法，通过添加支脚的脚趾脱离状态来获得稳定自然的行走。 构成：用于控制步行机器人的方法如下。 当第一支腿处于摆动状态并且第二支腿处于支撑状态时，如果对施加到第一支脚的地面的力超过第一设定值（404），则第二支脚转移到脚尖断开状态。 当第二腿处于脚尖断开状态时，如果施加到第二腿的地面的力低于第二设定值（406），则第二脚转到摆动状态，并且第一腿处于支撑状态， 。 机器人通过重复摆动状态，支持状态和起始状态的转变来行进。
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