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公开(公告)号：KR101426844B1
公开(公告)日：2014-08-06
申请号：KR1020070113796
申请日：2007-11-08
Applicant: 삼성전자주식회사
IPC: H01L27/115 , H01L21/8247
Abstract: 본 발명은 비휘발성 기억 소자를 제공한다. 이 소자는 반도체 기판 상에 형성된 터널 절연막, 터널 절연막 상에 형성된 전하 저장막, 전하 저장막 상에 형성된 블로킹 절연막, 및 블로킹 절연막 상에 형성된 제어 게이트 전극을 포함하되, 블로킹 절연막은 연속적으로 적층된 제1 블로킹 절연막, 제2 블로킹 절연막, 및 제3 블로킹절연막을 포함하되, 제 2 블로킹 절연막의 에너지 밴드갭은 제1 블로킹 절연막 및 제3 블로킹 절연막의 에너지 밴드갭 보다 크다.
Flash 메모리, 전하저장막, 블로킹 절연막-
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Patent Agency Ranking
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公开(公告)号：KR1020120134036A
公开(公告)日：2012-12-11
申请号：KR1020120056131
申请日：2012-05-25
Applicant: 삼성전자주식회사
Abstract: PURPOSE: A robot and a control method thereof are provided to maintain stability as a capture point is controlled while the robot walks. CONSTITUTION: A robot comprises a sensor unit(300), a kinematic calculation unit(310), a target setting unit(320), a compensating force computation unit(350), a virtual gravity setting unit(360), a gravity compensation torque computation unit(390), and a servo control unit(420). The kinematic calculation unit obtains the current posture of the robot using state information from the sensor unit. The target setting unit sets a target posture for plural degrees of freedom on the basis of a finite state machine. The compensating force computation unit computes posture error by comparing the current posture with the target posture, and calculates the compensating force for the degrees of freedom. The virtual gravity setting unit sets the virtual gravity needed for a plurality of joints according to the current finite state machine. The servo control unit outputs gravity compensation torque to the joints. [Reference numerals] (301) Angle detection unit; (302) Pose detection unit; (303) Force/torque detection unit; (304) Joint torque detection unit; (310) Kinematic calculation unit; (320) Target setting unit; (330) Finite state machine control unit; (340) Compensating moment calculating unit; (350) Compensating force computation unit; (361) First virtual gravity setting unit; (362) Second virtual gravity setting unit; (390) Gravity compensation torque computation unit; (400) Target torque calculating unit; (420) Servo control unit
Abstract translation: 目的：提供一种机器人及其控制方法，以在机器人行走时控制捕获点时保持稳定性。 构成：机器人包括传感器单元（300），运动学运算单元（310），目标设定单元（320），补偿力计算单元（350），虚拟重力设定单元（360），重力补偿扭矩 计算单元（390）和伺服控制单元（420）。 运动学计算单元使用来自传感器单元的状态信息来获得机器人的当前姿态。 目标设定单元基于有限状态机设定多个自由度的目标姿态。 补偿力计算单元通过将当前姿势与目标姿势进行比较来计算姿势误差，并且计算自由度的补偿力。 虚拟重力设定单元根据当前的有限状态机设定多个关节所需的虚拟重力。 伺服控制单元向接头输出重力补偿扭矩。 （附图标记）（301）角度检测单元; （302）姿势检测单元; （303）力/力矩检测单元; （304）联合扭矩检测单元; （310）运动计算单元; （320）目标设定单位; （330）有限状态机控制单元; （340）补偿力计算单元; （350）补偿力计算单元; （361）第一虚拟重力设定单元; （362）第二虚拟重力设定单元; （390）重力补偿扭矩计算单元; （400）目标转矩计算单元; （420）伺服控制单元
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公开(公告)号：KR1020120035518A
公开(公告)日：2012-04-16
申请号：KR1020100097064
申请日：2010-10-05
Applicant: 삼성전자주식회사
IPC: B25J13/08 , B25J9/16 , B62D57/032
CPC classification number: B62D57/032 , Y10S901/01 , B25J13/085 , B25J9/1664
Abstract: PURPOSE: A walking robot and a control method thereof are provided to prevent damage to hardware when a position control mode is switched into a torque control mode. CONSTITUTION: A control method of a walking robot is as follows. When an FSM(Finite State Machine) control mode is switched into a ZMP(Zero Moment Point) control mode, the final target joint angle of the FSM control mode is stored. When the ZMP control mode is switched into the FSM control mode, the operation of the FSM control mode is performed by substituting the stored final target joint angle to the target joint angle of the FSM control mode.
Abstract translation: 目的：提供一种步行机器人及其控制方法，以便在位置控制模式切换到转矩控制模式时，防止硬件损坏。 规定：步行机器人的控制方法如下。 当FSM（有限状态机）控制模式切换到ZMP（零矩点）控制模式时，存储FSM控制模式的最终目标关节角度。 当ZMP控制模式切换到FSM控制模式时，通过将存储的最终目标关节角度代入FSM控制模式的目标关节角度来执行FSM控制模式的操作。
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