Beijing Xiaomi Mobile Software Co., Ltd.

Beijing Xiaomi Robot Technology Co., Ltd.

Diyun Xiang

Yin Zhu

Xu Wei

Pengfei Zhang

Chuangqi Li

Jiasheng Huang

Wenping Guo

Jiajun Zhang

Jingxiang Wang

Shoujing Zhu

Chenguang Sun

Sheng Cao

Quanbin Xin

Zebang Zhang

Guokang Sun

Yinghao Gao

Zeyu Ren

A robot control method includes obtaining relevant parameters at a moment when the robot beats the musical instrument, calculating a motion trajectory of an end of a limb of the robot in a beating action period, and obtaining a joint control quantity of the corresponding limb of the robot, so that the robot beats the musical instrument according to the joint control quantity, and a beating action is corrected according to a correction parameter input by a user until the performance effect of the robot meets the requirements.

Robot control method, robot and storage medium

Earphone

Provided is a terminal device. The terminal device includes: a housing; a display screen installed on the housing; a piezoelectric body parallel to the display screen and including a fixed end and a free end, the fixed end being fixed on the housing, and the free end being opposite to the fixed end and being configured to vibrate under driving of an audio signal; and a vibrating body arranged between the display screen and the piezoelectric body, fixedly connected with the free end, and configured to vibrate in a direction perpendicular to the display screen with the vibration of the free end.

Terminal device

A mobile terminal includes: a controller, and a piezoelectric excitation portion including a first excitation source, and a second excitation source surrounding the first excitation source, wherein: the controller is configured to control the first excitation source to generate a first vibration driving force and control the second excitation source to generate a second vibration driving force when the mobile terminal is in a handset mode, such that at a position where the second excitation source is located, a first vibration wave generated by the first vibration driving force and a second vibration wave generated by the second vibration driving force have opposite vibration directions, and a vibration amplitude of the second vibration wave is less than or equal to that of the first vibration wave.

Mobile terminal and control method thereof, storage medium

Growing community of inventors

Beijing, China

Diyun Xiang