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    • 57. 发明授权
    • Semiconductor light-receiving device with graded layer
    • 具有分级层的半导体光接收装置
    • US5471076A
    • 1995-11-28
    • US274830
    • 1994-07-14
    • Tadayoshi MurakamiHideo Takahashi
    • Tadayoshi MurakamiHideo Takahashi
    • H01L31/10H01L31/0352H01L27/14
    • H01L31/0352
    • A substrate consisting of a compound semiconductor crystal, a buffer layer, a graded layer, a light-absorbing layer having a lattice constant smaller than that of the uppermost mixed crystal sublayer of the graded layer, a p-type conductive layer, another p-type conductive layer, and a capping layer formed on the surface of the light-absorbing layer next to the p-type conductive layer and having almost the same lattice constant as that of the uppermost layer of the graded layer are stacked. An electrode is connected to the substrate, and another electrode is connected to the conductive layer. A tensile force is applied to the light-absorbing layer from the uppermost mixed crystal sublayer of the graded layer, the capping layer, and the conductive layer, thereby suppressing a dark current.
    • 由化合物半导体晶体,缓冲层,分级层,具有小于分级层的最上层混晶层的晶格常数的光吸收层构成的衬底,p型导电层, 并且形成在与p型导电层相邻的光吸收层的表面上并具有与分级层的最上层几乎相同的晶格常数的覆盖层。 电极连接到基板,另一个电极连接到导电层。 从分级层,覆盖层和导电层的最上层的混晶子层向光吸收层施加张力,由此抑制暗电流。
    • 58. 发明授权
    • Locomotion control system for legged mobiled robot
    • 腿式移动机器人运动控制系统
    • US5337235A
    • 1994-08-09
    • US29451
    • 1993-03-11
    • Hideo TakahashiRyutaro Yoshino
    • Hideo TakahashiRyutaro Yoshino
    • B25J9/18B62D57/032G05B19/00
    • B62D57/032
    • A system for controlling locomotion of a legged such as a biped walking robot having a body and two legs connected to the body. Positional walking data are preestablished in advance with respect to the robot's center of gravity, foot position and the like. First, a difference between the robot's center of gravity at time t (current time) and at time t+delta t (next time) defined in the walking data is calculated. From the difference, then, a positional correction amount of the robot's hip position, which is decisive for determining the robot's attitude, at the time t+delta t is determined, and the robot's attitude at the time is determined from the corrected hip position and the foot position or the like preestablished in the walking data. And based on the determined attitude at the time, target joints angles of the robot is calculated and the joints are driven to the determined target angles. Since the walking data are preestablished in terms of the positional information, locomotion can be modified as required during walking. In another embodiment, forces acting on the robot legs are detected to estimate the robot's center of gravity at the current time (time t). The estimated value is used to determine the difference to be used to determine hip position correction amount which is in turn used in the robot's attitude.
    • 一种用于控制腿部运动的系统,例如具有连接到身体的身体和两个腿部的两足动作机器人。 位置行走数据相对于机器人的重心,脚位等预先预先建立。 首先,计算步行数据中定义的时刻t(当前时间)和时刻t + delta t(下一次)的机器人重心之间的差异。 然后,根据不同之处,确定​​在时刻t + delta t决定机器人姿态的机器人的臀部位置的位置校正量,并且根据修正的臀部位置确定机器人的姿态, 脚位置等在步行数据中预先建立。 并且基于当时确定的姿态,计算机器人的目标关节角度并且将关节驱动到确定的目标角度。 由于行走数据是根据位置信息进行预先设定的,所以可以根据行走时的要求进行修改。 在另一个实施例中,检测作用在机器人腿上的力以估计当前时间(时间t)的机器人的重心。 估计值用于确定用于确定髋部位置校正量的差异,其依次用于机器人的姿态。