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1. 发明授权

US08738178B2 Method for controlling the walk of humanoid robot 有权
标题翻译：控制人形机器人步行的方法
公开(公告)号：US08738178B2
公开(公告)日：2014-05-27
申请号：US12090350
申请日：2005-10-24
申请人： Young Jin Choi , Do Ik Kim , Yong Hwan Oh , Chang Hwan Kim , Bum Jae You , Jung San Cho
发明人： Young Jin Choi , Do Ik Kim , Yong Hwan Oh , Chang Hwan Kim , Bum Jae You , Jung San Cho
IPC分类号： G05B19/18
CPC分类号： B62D57/032
摘要： The invention relates to a method for controlling walking of humanoid bipedal walking robot. More specifically, the invention comprises steps of designing a zero momentum position (ZMP) of a robot for the ground surface (a); calculating trajectories of a center of gravity (COG) of the robot along with the trajectory of the ZMP (b); calculating an angular velocity of driving motors of two feet, which has the robot walk according to the trajectory of the ZMP (c); and controlling walking of the robot by driving the driving motors according to the angular velocity of the driving motors calculated above. The robot walking control method according to the invention has stability against disturbances.
摘要翻译：本发明涉及一种用于控制人形二足步行机器人步行的方法。更具体地，本发明包括设计用于地面（a）的机器人的零动量位置（ZMP）的步骤。计算机器人的重心（COG）轨迹与ZMP（b）的轨迹的轨迹; 计算具有根据ZMP（c）的轨迹的机器人行走的两英尺的驱动电动机的角速度; 以及通过根据上述计算的驱动马达的角速度驱动驱动马达来控制机器人的行走。根据本发明的机器人步行控制方法具有抗干扰的稳定性。

2. 发明申请

US20080281469A1 Method For Controlling the Walk of Humanoid Robot 有权
标题翻译：控制人型机器人步行的方法
公开(公告)号：US20080281469A1
公开(公告)日：2008-11-13
申请号：US12090350
申请日：2005-10-24
申请人： Young Jin Choi , Do Ik Kim , Yong Hwan Oh , Chang Hwan Kim , Bum Jae You , Jung San Cho
发明人： Young Jin Choi , Do Ik Kim , Yong Hwan Oh , Chang Hwan Kim , Bum Jae You , Jung San Cho
IPC分类号： G05B19/19
CPC分类号： B62D57/032
摘要： The invention relates to a method for controlling walking of humanoid bipedal walking robot. More specifically, the invention comprises steps of designing a zero momentum position (ZMP) of a robot for the ground surface (a); calculating trajectories of a center of gravity (COG) of the robot along with the trajectory of the ZMP (b); calculating an angular velocity of driving motors of two feet, which has the robot walk according to the trajectory of the ZMP (c); and controlling walking of the robot by driving the driving motors according to the angular velocity of the driving motors calculated above. The robot walking control method according to the invention has stability against disturbances.
摘要翻译：本发明涉及一种用于控制人形二足步行机器人步行的方法。更具体地，本发明包括设计用于地面（a）的机器人的零动量位置（ZMP）的步骤。计算机器人的重心（COG）轨迹与ZMP（b）的轨迹的轨迹; 计算具有根据ZMP（c）的轨迹的机器人行走的两英尺的驱动电动机的角速度; 以及通过根据上述计算的驱动马达的角速度驱动驱动马达来控制机器人的行走。根据本发明的机器人步行控制方法具有抗干扰的稳定性。

3. 发明申请

US20090271037A1 METHOD OF GENERATING A WALKING PATTERN FOR A HUMANOID ROBOT 有权
标题翻译：生成人类机器人运动模式的方法
公开(公告)号：US20090271037A1
公开(公告)日：2009-10-29
申请号：US12260173
申请日：2008-10-29
申请人： Seok Min Hong , Yong Hwan Oh , Young Hwan Chang , Do Ik Kim , Bum Jae You
发明人： Seok Min Hong , Yong Hwan Oh , Young Hwan Chang , Do Ik Kim , Bum Jae You
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： The present invention may provide a method of generating a walking pattern for a humanoid robot. The method of generating the walking pattern for the humanoid includes determining a position of a next Zero Moment Point (ZMP) along a moving direction of the humanoid robot, obtaining a first condition for generating a walking pattern based on the determined ZMP by using a periodic step module, generating trajectories of a ZMP and a Center of Mass (CoM) in an initial step based on the first condition and an initial value obtained from an initial state of the humanoid robot by using a transient step module, generating trajectories of a ZMP and a CoM in a steady step based on the ZMP of two steps by using a steady step module, and generating trajectories of a ZMP and a CoM in a final step by using the transient step module.
摘要翻译：本发明可以提供一种生成人形机器人的步行图案的方法。用于生成人形生物的步行图案的方法包括确定沿类人形机器人的移动方向的下一个零时刻点（ZMP）的位置，通过使用周期性的方法获得基于所确定的ZMP产生步行模式的第一条件基于第一条件在初始步骤中产生ZMP和质量中心（CoM）的轨迹，以及通过使用瞬态步进模块从人形机器人的初始状态获得的初始值，生成ZMP的轨迹以及通过使用稳定的步进模块基于两步的ZMP在稳定步骤中的CoM，并且通过使用瞬态步骤模块在最终步骤中生成ZMP和CoM的轨迹。

4. 发明授权

US08126594B2 Method of generating a walking pattern for a humanoid robot 有权
标题翻译：生成人形机器人步行图案的方法
公开(公告)号：US08126594B2
公开(公告)日：2012-02-28
申请号：US12260173
申请日：2008-10-29
申请人： Seok Min Hong , Yong Hwan Oh , Young Hwan Chang , Do Ik Kim , Bum Jae You
发明人： Seok Min Hong , Yong Hwan Oh , Young Hwan Chang , Do Ik Kim , Bum Jae You
IPC分类号： G05B19/04 , G05B19/18
CPC分类号： B62D57/032
摘要： The present invention may provide a method of generating a walking pattern for a humanoid robot. The method of generating the walking pattern for the humanoid includes determining a position of a next Zero Moment Point (ZMP) along a moving direction of the humanoid robot, obtaining a first condition for generating a walking pattern based on the determined ZMP by using a periodic step module, generating trajectories of a ZMP and a Center of Mass (CoM) in an initial step based on the first condition and an initial value obtained from an initial state of the humanoid robot by using a transient step module, generating trajectories of a ZMP and a CoM in a steady step based on the ZMP of two steps by using a steady step module, and generating trajectories of a ZMP and a CoM in a final step by using the transient step module.
摘要翻译：本发明可以提供一种生成人形机器人的步行图案的方法。用于生成人形生物的步行图案的方法包括确定沿类人形机器人的移动方向的下一个零时刻点（ZMP）的位置，通过使用周期性的方法获得基于所确定的ZMP产生步行模式的第一条件基于第一条件在初始步骤中产生ZMP和质量中心（CoM）的轨迹，以及通过使用瞬态步进模块从人形机器人的初始状态获得的初始值，生成ZMP的轨迹以及通过使用稳定的步进模块基于两步的ZMP在稳定步骤中的CoM，并且通过使用瞬态步骤模块在最终步骤中生成ZMP和CoM的轨迹。

5. 发明授权

US07189013B2 Latch type optical module 有权
标题翻译：锁模型光模块
公开(公告)号：US07189013B2
公开(公告)日：2007-03-13
申请号：US10999447
申请日：2004-11-29
申请人： Kwang Jin Yang , Dae Jin Kim , Do Ik Kim
发明人： Kwang Jin Yang , Dae Jin Kim , Do Ik Kim
IPC分类号： G02B6/36 , H05K7/00 , H05K5/00 , H01R13/62 , H01R13/625 , H01R4/50
CPC分类号： G02B6/4292 , G02B6/4246
摘要： A latch type optical communication module is easily mounted to and detached from a system port having a cage by means of a latch. The optical communication module is provided with a latch. The latch is rotated around a hinge shaft fixed to both sides of a receptacle and engaging latch holes of ends of the latch. When rotated the latch moves latch drivers to force a slider upward, the slider raises a groove engaging a fixing tap of the optical communication module thereby allowing the optical communication module to be detached from the system port. The optical communication module can be detached from the system port without a tool or influence or adjacent an optical communication module.
摘要翻译：闩锁型光通信模块通过闩锁容易地安装到具有保持架的系统端口和从其分离。光通信模块设有闩锁。闩锁围绕固定到插座的两侧的铰链轴旋转并且接合闩锁端部的闩锁孔。当旋转时，闩锁移动闩锁驱动器以迫使滑块向上，滑块升高与光通信模块的固定分接头接合的凹槽，从而允许光通信模块从系统端口拆卸。光通信模块可以在没有工具或影响或邻近光通信模块的情况下与系统端口分离。

6. 发明申请

US20080055304A1 Organic light emitting display and driving method thereof 审中-公开
标题翻译：有机发光显示器及其驱动方法
公开(公告)号：US20080055304A1
公开(公告)日：2008-03-06
申请号：US11892477
申请日：2007-08-23
申请人： Do Hyung Ryu , Do Ik Kim
发明人： Do Hyung Ryu , Do Ik Kim
IPC分类号： G09G3/30
CPC分类号： G09G3/3291 , G09G3/2003 , G09G3/2022 , G09G3/3225 , G09G2310/0297
摘要： An organic light emitting display adapted to be driven using a frame divided into a plurality of sub-frames includes a scan driver adapted to sequentially provide a scan signal to scan lines every sub-frame, a data driver adapted to provide an output signal to an output line when the scan signal is supplied to the data driver, a demultiplexer adapted to separate the output signal into a plurality of data signals, and a storage section adapted to simultaneously provide the plurality of data signals from the demultiplexer to a corresponding plurality of data lines.
摘要翻译：适于使用划分为多个子帧的帧驱动的有机发光显示器包括适于顺序地提供扫描信号以扫描每个子帧的扫描驱动器，数据驱动器，其适于提供输出信号到输出线，当扫描信号被提供给数据驱动器时，解复用器适于将输出信号分离为多个数据信号;以及存储部分，适于同时将多个数据信号从解复用器提供给对应的多个数据线条。

7. 发明授权

US07164827B2 Optical module with accurate axial alignment using a platform 有权
标题翻译：使用平台精确轴向对准的光学模块
公开(公告)号：US07164827B2
公开(公告)日：2007-01-16
申请号：US10999444
申请日：2004-11-29
申请人： Kwang Jin Yang , Dae Jin Kim , Do Ik Kim
发明人： Kwang Jin Yang , Dae Jin Kim , Do Ik Kim
IPC分类号： G02B6/42 , G02B6/36
CPC分类号： G02B6/423 , G02B6/4239 , G02B6/4246
摘要： An optical communication module is provided with a platform to provide an accurate axial alignment with optical transceiving subassemblies. In the optical communication module, axes of the optical transceiving sub-assemblies are aligned by virtue of previously established axial alignment of the platform, and the platform is fixed to a main body by inserting an insertion jaw of a cover into an insertion groove formed on an upper surface of the platform. After the optical transceiving subassemblies are inserted into the platform having the axial alignment required for a system, a bonding agent is filled into spaces defined in the platform, thereby preventing the axes from deviated by an external force. The optical communication module allows for easier and more accurate guidance of a connection between the optical transceiving sub-assemblies and the optical connector, thereby minimizing the optical loss, and preventing the patterns on the printed circuit board from being damaged due to the insertion and disconnection of the optical connector.
摘要翻译：光通信模块设置有平台以提供与光收发子组件的精确轴向对准。在光通信模块中，通过先前建立的平台的轴向对准，光收发子组件的轴线对准，并且平台通过将盖的插入爪插入到形成在其上的插入槽中而固定到主体上平台的上表面。在将光学收发组件插入到具有系统所需的轴向对准的平台中之后，将粘合剂填充到平台中限定的空间中，从而防止轴由于外力而偏离。光通信模块允许更容易且更精确地引导光学收发子组件和光学连接器之间的连接，从而最小化光学损耗，并且防止印刷电路板上的图案由于插入和断开而被损坏的光连接器。

8. 发明授权

US08054247B2 Driving method of a display 有权
标题翻译：显示器的驱动方法
公开(公告)号：US08054247B2
公开(公告)日：2011-11-08
申请号：US11892478
申请日：2007-08-23
申请人： Do Hyung Ryu , Do Ik Kim
发明人： Do Hyung Ryu , Do Ik Kim
IPC分类号： G09G3/28
CPC分类号： G09G3/2022 , G09G3/3258 , G09G3/3266 , G09G2310/0213 , G09G2310/0218 , G09G2310/0278 , G09G2320/0266
摘要： In a method for driving a display, one frame may be divided into more sub frames than a number of bits of data. A time period of the one frame may be divided into a number of periods corresponding to a number of scan lines multiplied by the number of sub frames. A start position of the sub frames may be set based on a bit weight of the data so that gradations are linearly expressed. Remainders of the sub frames may be obtained by dividing the start position of the sub frames by the number of sub frames. A line number of a scan line to which a scan signal is supplied may be obtained based on the time period of the one frame, the start position of the sub frames, and the number of the sub frames.
摘要翻译：在用于驱动显示器的方法中，一帧可以被划分成比数据位数更多的子帧。一帧的时间段可以被划分为与扫描线的数量相乘的多个周期乘以子帧的数量。可以基于数据的位权重来设置子帧的开始位置，使得等级线性地表示。可以通过将子帧的开始位置除以子帧的数量来获得子帧的剩余。可以基于一帧的时间段，子帧的开始位置和子帧的数量来获得提供扫描信号的扫描线的行号。

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