Beijing Institute of Technology

Boe Technology Group Co., Ltd.

Chengdu Boe Optoelectronics Technology Co., Ltd.

Beijing Baidu Netcom Science and Technology Co., Ltd.

China Petroleum Chemical Corporation

Beijing University of Chemical Tehcnology

Beijing Boe Technology Development Co., Ltd.

Hefei Boe Optoelectronics Technology Co., Ltd.

Streamocean, Inc.

Arris Enterprises LLC

Xinjiang Petroleum Engineering Co., Ltd.

Qiang Huang

Zhangguo Yu

Xuechao Chen

Junyao Gao

Qun Ma

Gao Huang

Weimin Zhang

Richeng Huang

Xiaopeng Chen

Xuxiao Fan

Wei Wang

Yu Wang

Xin Li

Xin Zhang

Yang Zhou

Han Zhou

Xiaofeng Jiang

Lulu Yang

Yupeng He

Yang Xu

Qiang Chen

Yiyang Zhang

Bin He

Pu Liu

Wu Zhang

Liudong Zhu

Yixian Wu

Qing Shi

Fei Meng

Liancun Zhang

Qingqing Li

Libo Meng

Xingzhong Liu

Rui Hao

Yuyu Zuo

Jiaming Lu

Chenglong Tang

Dinan Duan

Haiyong Bai

Ruiqi Wei

Guanghui Yang

Donglin Qiu

Ruting Jin

Ping He

Chunlei Zhang

Tao Sun

Chen Chen

Yi Xu

Chang Li

Tong Wu

Yuqing Yang

Hui Chen

Zhe Yang

Jun Fang

Wenkang Wang

Biao Liu

Tianyu Wang

Shengjie Wang

Wenjun Zhang

Zhaoyi Liu

Bo Tian

Xuewei Zhao

Jinbo Xu

Di Fan

Haiting Feng

Xu Pan

Hongqiao Xu

Yanbo Zeng

Guanglu Jia

Yaqin Xia

Shufeng Wang

Mengchao Ma

Mingyue Qin

Mingjie Zou

Saiding Hong

Yuncong Li

Chencheng Dong

Huaxin Liu

Fukuda Toshio

Zhiheng Wang

Zhifa Gao

Runming Zhang

Zhenyuan Fu

Siyuan Gou

Shurui Yan

Dingkui Tian

Han Yu

Yaliang Liu

Jingping Liao

Hyunwoo Kim

Qiongbo Liu

Joanna Zang

Xuelin Cao

Aijun Wang

Yong Ling

Jiangping Ning

Jingdu Zhou

Shuai Zheng

Zhiqing Zhang

Jun Mei

A display substrate is provided, including: a base substrate including at least pixel and hole areas; sub-pixels arranged on the base substrate and in the pixel area; a hole in the hole area; a first barrier dam between the sub-pixels and the hole and at least partially surrounding the hole; a functional film layer, an organic material layer and an encapsulating structure sequentially arranged on the display substrate in a direction away from the base substrate, an orthographic projection of the organic material layer on the base substrate falling within the pixel area, the organic material layer including at least one film layer; and a filling structure, at least a portion of which is arranged between the hole and the first barrier dam. The filling structure and the at least one film layer of the organic material layer are in the same layer and include the same material.

Display substrate and display device

A robot joint torque control system and a load compensation method therefor are provided, which relate to the technical field of robot joint motion control. A mathematical model of the robot joint torque control system is established first. Equivalent transformation is performed on a system functional block diagram thereof, and then it can be seen that load parameters have a great influence on joint torque output. A load compensation controller is designed to effectively eliminate the influence of the load parameters on an output torque of the joint. The system is equivalent to an inertial element on the basis of the compensation, and then a PD controller parameter is adjusted to increase an open-loop gain of the system, so as to increase a system bandwidth and increase a response speed of the joint torque control system, thereby improving performance of the joint torque control system.

Robot joint torque control system and load compensation method therefor

A reducer gear for robot includes an outer contour layer and a reticulated porous base layer cladded by the outer contour layer; the outer contour layer comprises a mounting surface layer, a tooth surface layer, and a connecting surface layer connected between the mounting surface layer and the tooth surface layer and forming a complete gear outer contour together with the mounting surface layer and the tooth surface layer; the mounting surface layer, the tooth surface layer and the connecting surface layer are compact structures; the reticular porous base layer is located in a cavity formed by the outer contour layer, and fiber trabeculae in a porous grid structure are provided in the reticular porous base layer.

Lightweight high load-bearing reducer and method for generating bionic bone structure of gear thereof

A display substrate, a manufacturing method thereof, and a display device are provided. The display substrate includes: a base substrate at least including a pixel area and a hole area; a plurality of sub-pixels arranged on the base substrate and located in the pixel area; a hole in the hole area; a first barrier dam arranged between the sub-pixels and the hole and at least partially surrounding the hole; an organic material layer including at least one film layer, wherein an orthographic projection of the organic material layer on the base substrate falls within the pixel area; and a filling structure, wherein at least a portion of the filling structure is arranged between the hole and the first barrier dam, and the filling structure and the at least one film layer of the organic material layer are located in the same layer and include the same material.

Display substrate, manufacturing method thereof, and display device

The present disclosure provides a visual-tactile perception apparatus and a small-sized robot. The apparatus includes a visual perception module, a tactile perception module, a control module, and a signal transmission module. The signal transmission module is separately connected to the visual perception module, the tactile perception module, and the control module. The visual perception module is configured to obtain image information of a surrounding environment of the apparatus; the tactile perception module is configured to obtain tactile information of the surrounding environment of the apparatus; the signal transmission module is configured to transmit the image information and the tactile information to the control module; and the control module is configured to generate a control instruction based on the image information and the tactile information, and transmit the control instruction.

Visual-tactile perception apparatus and small-sized robot

A foothold position control system and method for a biped robot are provided. 1) A feasible collision-free path is planned by using a path planning algorithm; 2) an available foothold area of a swing foot is determined according to step-length constraints, movement capabilities, foot sizes, and center offsets of a biped robot; and 3) fuzzy processing is performed to determine a specific foothold position of the biped robot. Selection of suitable foothold positions on both sides of a path when a biped robot executes specific walking actions after finishing path planning is realized. The foothold position control system and method has the advantages of being simple and easy to implement, having low computational load and high speed, being capable of exerting extreme movement capabilities of different biped robots, enabling more flexible movement of the biped robots, and so on.

Foothold position control system and method for biped robot

The present disclosure provides a robot joint member, a dynamic joint and a robot with a heat dissipation structure. The joint member has a hollow barrel structure disposed to sleeve a heat source component, and a plurality of phase change heat dissipation units; the phase change heat dissipation unit comprises a phase change working medium, a capillary material and a sealed phase change cavity; heat dissipation auxiliary ribs are arranged on a periphery of the barrel wall of the joint member and a side of the phase change heat dissipation unit away from the heat source component; and the heat dissipation auxiliary ribs define a plurality of gas flow channels with cross sections gradually reduced along a gas flow direction. The joint member has can quickly eliminate the heat accumulation of the joint power source, and can keep a compact structure of the dynamic joint of the robot.

Robot joint member, dynamic joint and robot with heat dissipation structure

A color shift compensation method, a display panel and a display device are provided. The color shift compensation method includes: acquiring color shift information generated with respect to a test region of a test display panel when the test region is viewed at a first viewing angle, at least a part of first subpixel units within the test region being provided with a test aperture ratio; and controlling, in accordance with the color shift information, at least a part of second subpixel units within a target region of a to-be-manufactured target display panel to be provided with a target aperture ratio being different from the test aperture ratio, to improve color shift within the target region when the target region is viewed at the first viewing angle, wherein a position of the target region on the target display panel is same as a position of the test region on the test display panel, and positions of at least the part of second subpixel units within the target region are same as positions of at least the part of first subpixel units within the test region.

Color shift compensation method, display panel and display device

The present disclosure discloses an unpowered wearable walking assistance knee equipment with gait self-adaptivity comprising a left foot power output assembly, a right foot power output assembly, a left leg knee joint assistance execution assembly, a right leg knee joint assistance execution assembly and a driving force transmission device. The equipment of the present disclosure is based on lever principle and crank block structure principle and adopts an operation mode of combining ipsilateral parallel driving input and different sides cross driving input. The self-weight of the human body is utilized as a driving force during the walking process to enable the left foot power output assembly to provide the left leg knee joint assistance execution assembly with a pulling force for its stretching and to provide the right leg knee joint assistance execution assembly with a pulling force for its bending, and to enable the right foot power output assembly to provide the right leg knee joint assistance execution assembly with a pulling force for its stretching and to provide the left leg knee joint assistance execution assembly with a pulling force for its bending, so that a torque for assisting the stretching and bending of the left leg knee joint and the right leg knee joint is generated according to a gait cycle regularity during the walking process, and the goal of walking assistance is achieved.

Unpowered wearable walking assistance knee equipment with gait self-adaptivity

The present invention discloses a method of tracking control for a foot force and moment of a biped robot. According to the method, a double-spring damping model is designed, and a force tracking controller is designed by using an LQR optimization method, so as to realize tracking of the foot force and moment of the biped robot. Further, a desired force on a foot and a desired moment on the foot are calculated through a planned ZMP distribution method, thereby eventually achieving better ZMP tracking of the biped robot and adapting to ground of certain unevenness. According to the present invention, the traditional control method of ZMP tracking to realize stable walking of a biped robot and adapting to uneven ground is abandoned; instead, a desired force and moment on a foot enabling stable walking of the robot are directly calculated, and direct control is performed to realize tracking of the force and moment on the foot, so as to carry out stable control in a more essential and easy-to-implement manner, thereby achieving faster control response, stronger capability of adapting to uneven ground, and ideal ZMP tracking effect.

Method of tracking control for foot force and moment of biped robot

The present application discloses a wide-field-of-view anti-shake high-dynamic bionic eye. A trajectory tracking method based on a bionic eye robot includes: establishing a linear model according to a bionic eye robot; establishing a full state feedback control system on the basis of the linear model; in the full state feedback control system, acquiring an angle and an angular acceleration required for a joint in a target tracking process of the bionic eye on the basis of a preset trajectory expectation value and a preset joint angle expectation value; the method further includes: adopting a linear quadratic regulator (LQR) to calculate a parameter K in the full state feedback control system, and minimizing energy consumption by establishing an energy function, so as to optimize the coordinated head-eye motion control of the linear bionic eye. The present application achieves the optimal control of the target tracking.

Wide-field-of-view anti-shake high-dynamic bionic eye

A public opinion acquisition method and device, a word viscosity model training method and device, a server, and a medium are provided in the present disclosure. And the present disclosure relates to the technical field of artificial intelligence, specifically to image recognition and natural language processing, which can be used in a cloud platform. A video public opinion acquisition method includes: receiving a public opinion acquisition request, the public opinion acquisition request including a public opinion keyword to be acquired; matching the public opinion keyword to be acquired with video data including a recognition result, wherein the recognition result is obtained by performing predefined content recognition on the video data, the predefined content recognition including text recognition and image recognition; and determining video data that matches with the public opinion keyword to be acquired as result video data.

Acquiring public opinion and training word viscosity model

The present invention provides a method for monitoring a balanced state of a humanoid robot, comprising: acquiring state data of the robot falling in different directions and being stable, forming a support vector machine (SVM) training data set and obtaining, by training, an initial SVM classifier; inputting the state data of the robot to the trained SVM classifier, so that the SVM classifier outputs a classification result; taking statistics on a proportion of cycles judged to have an impending fall in the total number of control cycles within a judgment buffer time after the SVM classifier outputs the classification result, and finally determining a monitoring result of the balanced state of the robot according to the proportion and finally extracting state data of misjudged cycles within the buffer time, adding the state data to the current training data set and updating the SVM classifier, eventually enabling the classifier to achieve the effects of matching motion capabilities of the robot and monitoring the balanced state.

Method for monitoring balanced state of biped robot

The present invention discloses a soft knee exoskeleton driven by a negative-pressure linear actuator, including: an exoskeleton controller, a left leg knee joint soft actuator, a right leg knee joint soft actuator and the like. The soft knee exoskeleton mainly uses a miniature vacuum negative pressure pump as an air pressure power source. A DSP embedded control system performs real-time processing on the data, such as a muscle force, a knee joint angle and a human-machine interaction force, detected by a sensing system, estimates a human-machine cooperation state, and performs real-time control on the switching of the negative pressure flow and an air channel of the miniature vacuum negative pressure pump.

Soft knee exoskeleton driven by negative-pressure linear actuator

A machining device for duplex gear of high-precision reducer for robot includes a laser welding device, a laser rotary support, a rotary mechanism and a rotary platform, the rotary mechanism being installed with a reducer body, wherein a center of a central gear is fixedly connected with a rotating shaft; sets of duplex gears are evenly disposed around the central gear; the gear of each set of duplex gear which is connected with the central gear are connected to an output gear ring from outside; a fixed gear ring is disposed above the output gear ring; a rotating frame is disposed at ends, close to the top of the reducer, of rotating shafts of the sets of duplex gears and the rotating shaft of the central gear.

Machining device for duplex gear of high-precision reducer for robot, and use method thereof

Growing community of inventors

Beijing, China

Qiang Huang