Abstract: A fluid pump is proposed. The fluid pump includes: a housing having an operation space and having connection ports disposed at a side in the operation space to discharge working fluid and suctioning working fluid from the outside; a swash plate coupled to the housing at an opposite side to the connection ports and having an inclined surface on a top facing the operation space; a cylinder block disposed in the operation space to be rotated by a driving shaft and having several cylinder rooms therein that extend in parallel with the driving shaft.

Abstract: A fluid pump is proposed. The fluid pump includes: a housing having an operation space and having connection ports disposed at a side in the operation space to discharge working fluid and suctioning working fluid from the outside; a swash plate coupled to the housing at an opposite side to the connection ports and having an inclined surface on a top facing the operation space; a cylinder block disposed in the operation space to be rotated by a driving shaft and having several cylinder rooms therein that extend in parallel with the driving shaft.

Abstract: A compressor is provided. The compressor includes a housing, a valve plate, a cylinder block, piston units, a cam element, a driving shaft and a motor. The valve plate is fixed to one end of the housing. The cylinder block is rotatable relative to the valve plate and has cylinder bores disposed in a circumferential direction. A portion of the cylinder block is received in the valve plate. The piston units are disposed the cylinder bores. The cam element is fixed to the housing and is in contact with one end of the piston unit. The cam element has an inclined cam surface. One end of the driving shaft is coupled to the cylinder block. The motor is fixed to an opposite end of the housing, while a rotating shaft is coupled to an opposite end of the driving shaft.

Abstract: A compressor is provided. The compressor includes a housing, a valve plate, a cylinder block, piston units, a cam element, a driving shaft and a motor. The valve plate is fixed to one end of the housing. The cylinder block is rotatable relative to the valve plate and has cylinder bores disposed in a circumferential direction. A portion of the cylinder block is received in the valve plate. The piston units are disposed the cylinder bores. The cam element is fixed to the housing and is in contact with one end of the piston unit. The cam element has an inclined cam surface. One end of the driving shaft is coupled to the cylinder block. The motor is fixed to an opposite end of the housing, while a rotating shaft is coupled to an opposite end of the driving shaft.

Abstract: A method of controlling vibration of a moving system having driving and driven units includes measuring an acceleration of the driven unit, generating a nominal acceleration by subtracting gravity from the measured acceleration, generating a control driving force according to the nominal acceleration, the driving force having a direction opposite to that of the measured acceleration, and applying the control driving force to the driven unit.

Abstract: A walking robot using simple ground reaction force sensors and a method of controlling the same. It is an aspect of the present invention to provide the walking robot and the method of controlling the same, which reduces development and manufacturing costs of the walking robot and allows non-specialists to easily participate in the development. The walking robot includes a plurality of legs. One or more sensors are mounted on soles of each of the legs to detect whether the soles of each of the legs are in contact with a ground during locomotion. The walking robot performs the locomotion according to a locomotion pattern composed of a plurality of locomotion cycles, and proceeds from a current locomotion cycle to a next locomotion cycle after determining whether the current locomotion cycle is stable using detection results of the sensors.

Abstract: A two-legged walking robot includes a pair of foot members a calf member provided above each foot member, a double-axis ankle joint provided between the foot member and the calf member to allow the foot member to rotate relative to the calf member in forward and backward directions and in right and left directions. The robot also includes a femoral member provided above each calf member, a single-axis knee joint provided between the calf member and the femoral member, a hip member provided above the femoral member, and a double-axis hip joint provided between the femoral member and the hip member to allow the femoral member to rotate relative to the hip member in the forward, backward, right, and left directions. Thus, the two-legged walking robot operates similar to a human ankle, knee and hip.

Abstract: A ground reaction force measuring module for a walking robot includes a housing installed at a predetermined portion of the walking robot facing the ground, a moving unit installed capable of moving with respect to the housing according to the presence of a pressing force to the ground transferred from the ground to the walking robot, and a compression sensor installed in the housing to measure a reaction force of the ground from the presence of the pressing force transferred through the moving unit. Thus, a change in the ground reaction force in a wide range can be stably coped with and the installation position of the robot foot can be easily changed.

Abstract: A method of controlling a biped walking robot to balance the robot based on a sensed ground reaction force. In the method, X and Y coordinates are assigned to positions of sensors attached to a sole of a leg of the robot and a corresponding Z coordinate is assigned for at least three of the sensors based on the sensed ground reaction force sensed by at the sensors, respectively. A ground reaction force plane is specified based on the sensed ground reaction force and a normal vector perpendicular to the ground reaction force plane is calculated. A roll angle about an X-axis and a pitch angle about a Y-axis are calculated and an actuator is driven in correspondence to the roll angle and the pitch angle to move a part of the robot to align the normal vector with a reference vector of the gravity direction.

Abstract: A method of controlling vibration of a moving system having driving and driven units includes measuring an acceleration of the driven unit, generating a nominal acceleration by subtracting gravity from the measured acceleration, generating a control driving force according to the nominal acceleration, the driving force having a direction opposite to that of the measured acceleration, and applying the control driving force to the driven unit.

Abstract: A walking robot using simple ground reaction force sensors and a method of controlling the same. It is an aspect of the present invention to provide the walking robot and the method of controlling the same, which reduces development and manufacturing costs of the walking robot and allows non-specialists to easily participate in the development. The walking robot includes a plurality of legs. One or more sensors are mounted on soles of each of the legs to detect whether the soles of each of the legs are in contact with a ground during locomotion. The walking robot performs the locomotion according to a locomotion pattern composed of a plurality of locomotion cycles, and proceeds from a current locomotion cycle to a next locomotion cycle after determining whether the current locomotion cycle is stable using detection results of the sensors.

Abstract: A method of controlling a biped walking robot to balance the robot based on a sensed ground reaction force. In the method, X and Y coordinates are assigned to positions of sensors attached to a sole of a leg of the robot and a corresponding Z coordinate is assigned for at least three of the sensors based on the sensed ground reaction force sensed by at the sensors, respectively. A ground reaction force plane is specified based on the sensed ground reaction force and a normal vector perpendicular to the ground reaction force plane is calculated. A roll angle about an X-axis and a pitch angle about a Y-axis are calculated and an actuator is driven in correspondence to the roll angle and the pitch angle to move a part of the robot to align the normal vector with a reference vector of the gravity direction.

Abstract: A micro lock valve includes a cylinder forming an air chamber. One part of the cylinder is provided with an inlet port and an outlet port which communicate with each other through the air chamber, and the other part is provided with an exhaust port communicating with the air chamber. The micro lock valve also includes a plunger slidingly traveling in the cylinder, blocking up one of the inlet port or the exhaust port, and formed with a female screw thread in a traveling direction of the plunger. The micro lock valve includes a driving shaft having a male screw thread mating with the female screw thread and a driving motor rotating the driving shaft forwardly and backwardly. Accordingly, the micro lock valve maintains a normally closed state and a normally open state without consuming a large amount of electric power and is driven by low electric power for a long period of time.

Abstract: A ground reaction force measuring module for a walking robot includes a housing installed at a predetermined portion of the walking robot facing the ground, a moving unit installed capable of moving with respect to the housing according to the presence of a pressing force to the ground transferred from the ground to the walking robot, and a compression sensor installed in the housing to measure a reaction force of the ground from the presence of the pressing force transferred through the moving unit. Thus, a change in the ground reaction force in a wide range can be stably coped with and the installation position of the robot foot can be easily changed.

Abstract: A two-legged walking robot includes a pair of foot members a calf member provided above each foot member, a double-axis ankle joint provided between the foot member and the calf member to allow the foot member to rotate relative to the calf member in forward and backward directions and in right and left directions. The robot also includes a femoral member provided above each calf member, a single-axis knee joint provided between the calf member and the femoral member, a hip member provided above the femoral member, and a double-axis hip joint provided between the femoral member and the hip member to allow the femoral member to rotate relative to the hip member in the forward, backward, right, and left directions. Thus, the present invention provides a two-legged walking robot to operate similar to a human ankle, knee and hip.

Abstract: A cleaning apparatus is capable of cleaning by using a drive force of rolling wheels without using an additional power supply. The cleaning apparatus includes a body provided with main rolling wheels. A rotary brush for cleaning is rotatably installed to the body in such a way that the outer circumferential surface of the brush is in contact with a surface to be cleaned. A dust collecting container is mounted to the body in such a way that a mouth of the dust collecting container is near to both the rotary brush and the floor. A power transmission unit transmits the drive force of the main rolling wheels to a shaft of the rotary brush.

Abstract: An apparatus measures a position of a mobile robot. An apparatus and method to measure the position of the mobile robot is provided, in which a plurality of sensor cells are installed on a bottom surface of a work space, and the mobile robot detects installation positions of the sensor cells, thus enabling the mobile robot to precisely measure its position, moving distance and moving direction. The mobile robot position measurement apparatus has one or more sensor cells and a sensor. The sensor cells each have unique position information, and are installed in a work area of the mobile robot. The sensor is mounted to the mobile robot to obtain the position information from the sensor cells and to measure a current position of the mobile robot.

Abstract: A micro lock valve includes a cylinder forming an air chamber. One part of the cylinder is provided with an inlet port and an outlet port which communicate with each other through the air chamber, and the other part is provided with an exhaust port communicating with the air chamber. The micro lock valve also includes a plunger slidingly traveling in the cylinder, blocking up one of the inlet port or the exhaust port, and formed with a female screw thread in a traveling direction of the plunger. The micro lock valve includes a driving shaft having a male screw thread mating with the female screw thread and a driving motor rotating the driving shaft forwardly and backwardly. Accordingly, the micro lock valve maintains a normally closed state and a normally open state without consuming a large amount of electric power and is driven by low electric power for a long period of time.