Tencent Technology (shenzhen) Company Limited

Jie Lai

Zhengyou Zhang

Ke Chen

Shuai Wang

Dongsheng Zhang

Yu Zheng

Yuan Dai

Sicheng Yang

Jingfan Zhang

Xinyang Jiang

Siyuan Liu

Haitao Wang

Ruirui Zhang

Jiafeng Xu

Jiahua Wang

A triboelectric generation apparatus based on a friction brake and a friction brake provide a simple structure with high reliability, a stable circuit, and high energy recovery efficiency. The triboelectric generation apparatus includes two sensing electrodes arranged in a first friction component of the friction brake. When the first friction component is in frictional contact with a second friction component, induced electric charges are generated on the two sensing electrodes. The induced electric charges are different. An electric charge collection circuit is connected to the sensing electrodes and is configured to store the induced electric charges. Storing the induced electric charges allows for the recovery of energy using a simple structure with high reliability.

Triboelectric generation apparatus based on friction brake, and friction brake

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 provides a capacitance detection circuit for detecting capacitance of a capacitor element within a capacitor array. The circuit includes a capacitance detection module for detecting a first capacitance of a first capacitor set, a second capacitance of a second capacitor set, and a third capacitance of the third capacitor set, the first capacitor set comprising the capacitor element and a row capacitor element in the same row of the capacitor array as the capacitor element, the second capacitor set comprising the capacitor element and a column capacitor element in the same column of the capacitor array as the capacitor element, the third capacitor set comprising the row capacitor element and the column capacitor element; and a processing module, configured to obtain the capacitance of the capacitor element according to the first capacitance, the second capacitance and the third capacitance.

Capacitance detection circuit and method, and electronic device

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Shenzhen, China

Jie Lai