The invention relates to an automated drip-type coffee or beverage making machine with an automatic bean grinding apparatus and an automatic cleaning apparatus. The invention also incorporates improvements and features such as a projection or boss within the device which improves the operating efficiency of the bean grinding feature, an improved blade configuration which improves grinding efficiency, including a unique blade arrangement employing a plurality of blades of different lengths, and an improved lid for the coffee or beverage container which acts as an insulator, a moving and sealing cover to prevent ground material from escaping during the grinding process, a water tank insulating compartment, a double-walled grinding basket lid to aid in insulation and spreading of hot liquid, and a damping member for reducing the vibrations associated with motor operation.

 
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> Robot, servo circuit, actuator, robot control method, and actuator control method

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~ 00048