Tencent Technology (shenzhen) Company Limited

Tencent Technology Company Limited

Dongsheng Zhang

Ke Chen

Zhengyou Zhang

Shuai Wang

Jie Lai

Sicheng Yang

Qiang Li

Yu Zheng

Lei Wei

Jingfan Zhang

Xiong Li

Xiangyu Chen

Xinyang Jiang

Wanchao Chi

Haitao Wang

Qinqin Zhou

Qiwei Xu

Jiafeng Xu

Liangwei Xu

A robot comprises a wheel-footed bimodal mechanical leg having a driving apparatus, a thigh unit, and a calf unit. A joint end of the thigh unit is hingedly connected to a joint end of the calf unit by a rotary shaft. The driving apparatus is connected to the rotary shaft by a transmission apparatus. The calf unit comprise a locking mechanism. The robot can operate in a footed mode and a wheeled mode. In the footed mode, the calf units and the rotary shafts in n mechanical legs are fixedly connected to each other, where n is an integer that is at least two. In the wheeled mode, the calf units and the rotary shafts in at least two wheel-footed bimodal mechanical legs are rotatably connected to each other.

Wheel-footed bimodal mechanical leg and robot

A haptic feedback device includes: a first feedback apparatus, including: a fixed platform, a movable platform, a ring disposed on the movable platform, and a power unit disposed on the fixed platform and connected to the movable platform. The power unit is configured to obtain a first control signal generated by a controller and output torsion according to the first control signal. The movable platform is configured to be driven by the torsion to move relative to the fixed platform. The ring is configured to provide feedback force as the movable platform moves, to implement haptic feedback.

Haptic feedback device, electronic device, and robot system

This application relates to the field of robot control, and provides a motion state control method and apparatus, a device, and a readable storage medium. The method includes the following steps: Step: Acquire basic data and motion state data, the basic data being used for representing a structural feature of a wheeled robot, and the motion state data being used for representing a motion feature of the wheeled robot. Step: Determine a state matrix of the wheeled robot based on the basic data and the motion state data, the state matrix being related to an interference parameter of the wheeled robot, the interference parameter corresponding to a balance error of the wheeled robot. Step: Determine, based on the state matrix, a torque for controlling the wheeled robot. Step: Control, by using the torque, the wheeled robot to be in a standstill state.

Motion state control method and apparatus, device, and readable storage medium

A method includes: obtaining current motion state data of the wheel-legged robot, the current motion state data representing motion features of the wheel-legged robot, inputting the current motion state data into a nonlinear controller to obtain a target joint angular acceleration reference value of a target robot joint of the wheel-legged robot, and inputting the target joint angular acceleration reference value into a whole-body dynamics controller to output a joint torque for controlling the wheel-legged robot to perform a control task.

Method and apparatus for controlling wheel-legged robot, wheel-legged robot, and device

A mechanical leg comprises a frame, a retractable member, a wheel, an extension and retraction driving member, a travel driving member, an auxiliary leg, and an auxiliary wheel. The extension and retraction driving member is located on a side of the frame. The retractable member is connected to the extension and retraction driving member. The wheel is connected to the retractable member. The wheel is further connected to the travel driving member. A first end of the auxiliary leg is connected to the auxiliary wheel, and a second end of the auxiliary leg is located on the frame. The retractable member extends under the driving of the extension and retraction driving member to drive the wheel to jump. The wheel is driven by the travel driving member to move. When the auxiliary wheel contacts the ground, the mechanical leg moves with the rolling of the wheel and the auxiliary wheel.

Mechanical leg and wheeled mobile device

This application discloses a motion platform, a haptic feedback device, and a human-computer interactive system. The motion platform includes a first platform, a second platform and a linkage assembly, the first platform and the second platform being connected by the linkage assembly, the second platform being configured to move relative to the first platform. The first platform comprises a first power take-off and a second power take-off, the first power take-off comprising a first output shaft and the second power take-off comprising a second output shaft. The linkage assembly comprises a first parallelogram linkage mechanism and a second parallelogram linkage mechanism connected to each other, and a two-bar linkage mechanism. The two-bar linkage mechanism and the first parallelogram linkage mechanism have the same plane of motion, and the second output shaft being configured to drive motion of the two-bar linkage mechanism.

Motion platform, haptic feedback device and human-computer interactive system

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Shenzhen, China

Dongsheng Zhang