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公开(公告)号：KR1020120071599A
公开(公告)日：2012-07-03
申请号：KR1020100133210
申请日：2010-12-23
Applicant: 삼성전자주식회사
IPC: B25J9/16 , B25J9/00 , B25J11/00 , B62D57/032 , G05D1/08
CPC classification number: G05D1/0891 , B62D57/032 , G05D2201/0217 , B25J9/1602 , B25J9/0009 , B25J9/1633 , B25J9/1638 , B25J11/00
Abstract: PURPOSE: A walking robot and a control method thereof are provided to add virtual gravity of an antigravity direction to a supporting leg and virtual gravity of a gravity direction to a stretched leg so that the walking stability of the robot is obtained. CONSTITUTION: A walking robot is as follows. A virtual gravity torque including antigravity vector components is applied to each joint of a supporting leg between two legs while walking(910). A virtual gravity torque including gravity vector components is applied to each joint of a stretched leg between the two legs while walking(912).
Abstract translation: 目的：提供一种步行机器人及其控制方法，以将支撑腿的重力方向的虚拟重力和重力方向的虚拟重力加大到伸展腿部，从而获得机器人的步行稳定性。 规定：步行机器人如下。 包括抗重力矢量分量的虚拟重力矩在步行时（910）被施加到两腿之间的支撑腿的每个关节。 包括重力矢量分量的虚拟重力矩在步行时施加到两腿之间的伸展腿的每个关节（912）。
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公开(公告)号：KR1020120021569A
公开(公告)日：2012-03-09
申请号：KR1020100076536
申请日：2010-08-09
Applicant: 삼성전자주식회사
Abstract: PURPOSE: A charge trap type flash memory device and an erasing method thereof are provided to secure high erasing accuracy by selectively changing an erasing operation condition according to the change of a temperature. CONSTITUTION: A temperature sensing result is received. A normal erase operation is performed(S1200) and a modification erase operation is selectively performed based on the temperature sensing result(S1300). Delay time is increased if the temperature sensing result is lower than a reference voltage(S1400). If the temperature sensing result is lower than the reference voltage, a counter pulse is applied to word lines for delay time(S1500). A voltage level and application time of a counter pulse are changed according to the temperature sensing result.
Abstract translation: 目的：提供电荷阱型闪存器件及其擦除方法，以通过根据温度变化选择性地改变擦除操作条件来确保高擦除精度。 构成：接收到温度检测结果。 执行正常擦除操作（S1200），并且基于温度感测结果选择性地进行修改擦除操作（S1300）。 如果温度检测结果低于参考电压，则延迟时间增加（S1400）。 如果温度检测结果低于参考电压，则对字线施加计数脉冲延迟时间（S1500）。 根据温度检测结果，可以改变计数器脉冲的电压电平和施加时间。
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Patent Agency Ranking
公开(公告)号：KR1020110017500A
公开(公告)日：2011-02-22
申请号：KR1020090074986
申请日：2009-08-14
Applicant: 삼성전자주식회사
CPC classification number: B62D57/032 , B25J13/00 , B25J5/00 , B25J9/0006 , B25J9/16 , B25J9/1641 , B25J17/00
Abstract: PURPOSE: A control device and method for a legged mobile robot are provided to compensate the frictional force of each joint and change the gravity direction of robot joints into anti-gravity direction, thereby effectively keeping the robot balanced. CONSTITUTION: A control device for a legged mobile robot comprises a joint part(60) and a control part(40). The joint part drives an actuator installed in a joint of a robot. The control part operates the joint part to offset the mechanical friction force of the robot joint, thereby compensating the frictional force of the robot joint.
Abstract translation: 目的：提供一种腿式移动机器人的控制装置和方法，以补偿每个关节的摩擦力，并将机器人关节的重力方向改变为反重力方向，从而有效保持机器人平衡。 构成：用于腿式移动机器人的控制装置包括接头部分（60）和控制部分（40）。 接头部分驱动安装在机器人的接头中的致动器。 控制部分操作接头部分以抵消机器人接头的机械摩擦力，从而补偿机器人接头的摩擦力。
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