Samsung Electronics Co., Ltd.

Jae Ho Park

Woong Kwon

Kyung Shik Roh

Joo Hyung Kim

Chang Hyun Roh

Ju Suk Lee

Ho Seong Kwak

Joong Kyung Park

Jong Hoon Jung

Tae Joong Song

Gyu Hong Kim

Min Hyung Lee

Kee Hong Seo

Gi Young Yang

Joo Hyang Kim

A walking robot and a control method thereof. The control method includes performing transition of a second leg to a toe-off state, when ground reaction force applied to a first leg exceeds a first set value under the condition that the first leg is in a swing state and the second leg is in a support state, performing transition of the second leg to the swing state and transition of the first leg to the support state, when ground reaction force applied to the second leg is below a second set value under the condition that the second leg is in the toe-off state, and achieving walking of the walking robot by repeating the transitions among the swing state, the support state and the toe-off state. Thereby, the control method allows the robot to more stably and naturally walk.

Walking robot and control method thereof

A fin Field Effect Transistor (finFET) can include a source region and a drain region of the finFET. A gate of the finFET can cross over a fin of the finFET between the source and drain regions. First and second silicide layers can be on the source and drain regions respectively. The first and second silicide layers can include respective first and second surfaces that face the gate crossing over the fin, where the first and second surfaces are different sizes.

Field effect transistors including asymmetrical silicide structures and related devices

A method of controlling walking a biped robot to generate a walking pattern maximally similar to that of a human includes generating a walking pattern, calculating a walking pattern similarity corresponding to the walking pattern, and comparing the walking pattern similarity with a predetermined reference pattern similarity, and changing the walking pattern based on a result of the comparison. When the robot walks, a knee is maximally stretched and a horizontal movement of a waist is minimized such that the walking pattern of the robot is maximally similar to that of a human, thus enhancing an affinity for a human being and increasing energy efficiency.

Robot and method of controlling walking thereof

A walking robot and a control method thereof. The control method of the walking robot which walks using two legs includes applying first virtual gravity torque including a vector component in the anti-gravity direction to respective joints of a support leg from among the two legs during walking, and applying second virtual gravity torque including a vector component in the gravity direction to respective joints of a swing leg from among the two legs during walking. Thereby, the walking robot implements a natural walking motion having a low energy consumption rate.

Semiconductor memory devices are provided. Each of the semiconductor memory devices may include first and second memory cells. The first memory cell may be connected to a bit line and a complementary bit line. Moreover, each of the semiconductor memory devices may include a discharge circuit connected to the first memory cell via the bit line and the complementary bit line. The discharge circuit may be configured to discharge the first memory cell during a read or write operation of the second memory cell.

Semiconductor memory devices including a discharge circuit

Disclosed are a robot, which generates a stable walking pattern similar to that of a human, and a method of controlling walking thereof. The method includes generating a walking pattern of a leg connected to a torso of the robot; detecting whether or not a singularity pose of the leg walking according to the walking pattern is generated; and changing the walking pattern by adjusting a yaw direction angle of the torso when the singularity pose is generated.

A humanoid robot that achieves stable walking based on servo control of a joint torque and a walking control method thereof. The humanoid robot calculates a joint position trajectory compensation value and a joint torque compensation value using a measurement value of a sensor, compensates for a joint position trajectory and a joint torque using the calculated compensation value, and drives a motor mounted to each joint according to the compensated joint torque.

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Suwon-si, South Korea

Jae Ho Park