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    • 96. 发明授权
    • Delay adjusting method and LSI that uses air-gap wiring
    • 延时调整方法和使用气隙接线的LSI
    • US08122405B2
    • 2012-02-21
    • US12253469
    • 2008-10-17
    • Takashi MatsumotoJunji NoguchiTakayuki Oshima
    • Takashi MatsumotoJunji NoguchiTakayuki Oshima
    • G06F17/50
    • G06F17/5031H01L21/7682H01L2924/0002H01L2924/00
    • Provided is a method for manufacturing a semiconductor integrated circuit device which enables a timing optimization without giving additions to a manufacturing process and increasing cost and TAT. Existence of a timing constraint violation is determined, and when a timing constraint violation is detected, to dissolve the violation, a void formation inhibition zone is set up in a part or all of a spacing (inter-wiring spacing) between an optimization-target wiring which needs a further delay time of a signal and clock and an adjacent wiring adjacent to the optimization-target wiring having a spacing within a specified wiring spacing, and an insulating film is formed in a spacing (inter-wiring spacing) between the optimization-target wiring and the adjacent wiring in the void formation inhibition zone, and voids are formed in a spacing (inter-wiring spacing) between the optimization-target wiring and the adjacent wiring outside the void formation inhibition zone.
    • 提供一种制造半导体集成电路器件的方法,其能够进行定时优化,而不增加制造工艺并增加成本和TAT。 确定定时约束违规的存在,并且当检测到定时约束违规时,为了解决违规,在优化目标之间的间隔(布线间距)的一部分或全部中建立空隙形成禁止区 需要进一步延迟信号和时钟的延迟时间的布线以及与优选目标布线相邻的相邻布线,其间距在指定布线间距内,并且绝缘膜以优选的间隔(布线间距)形成 在空隙形成抑制区域中的目标布线和相邻布线,并且在空隙形成抑制区外部的优化目标布线和相邻布线之间的间隔(布线间距)形成空隙。
    • 100. 发明授权
    • Control device for legged mobile robot
    • 腿式移动机器人控制装置
    • US07860611B2
    • 2010-12-28
    • US12603116
    • 2009-10-21
    • Toru TakenakaTakashi MatsumotoTakahide Yoshiike
    • Toru TakenakaTakashi MatsumotoTakahide Yoshiike
    • G06F19/00B62D57/032B62D57/00B62D57/02B62D57/024B25J13/00B25J5/00G05B13/02
    • B62D57/032
    • On the basis of at least a difference between a desired state amount related to a posture of a robot 1 about a vertical axis or a floor surface normal line axis and an actual state amount of the robot 1 and a permissible range of a restriction object amount, namely, a vertical component of a floor reaction force moment or a component of the floor reaction force moment in a floor surface normal line direction to be applied to the robot 1, instantaneous values of a desired motion and a desired floor reaction force are determined such that a difference between a floor reaction force moment balancing with the desired motion on a dynamic model and a floor reaction force moment of the desired floor reaction force approximates the aforesaid difference to zero, while having the restriction object amount, which is associated with the desired floor reaction force, fall within the permissible range.
    • 基于与机器人1的纵轴或地面法线方向的姿势有关的期望状态量与机器人1的实际状态量之间的差异以及限制对象量的容许范围 即,施加到机器人1的地板反射力矩或地板反射力矩的分量的垂直分量,期望运动的瞬时值和期望的地面反作用力被确定 使得在动态模型上的平衡反作用力平衡与期望的运动之间的差异与期望的地面反作用力的地板反力力矩之间的差值近似于上述差为零,同时具有与 所需的地面反作用力,落在容许范围内。