Tencent Technology (shenzhen) Company Limited

Ubtech Robotics Corp Ltd

Huawei Technologies Co., Limited

Ubkang (qingdao) Technology Co., Ltd.

Tencent Technology Company Limited

Xuan Luo

Chunyu Chen

Youjun Xiong

Ligang Ge

Yizhang Liu

Qiuyue Luo

Xianwen Zeng

Xiaolin Cui

Jun Ming Yan

Pengfei Zhang

Jiao Wang

Jiangchen Zhou

Liqiang Liu

Zhihao Zhang

Xuejun Sun

Meng Yan

Yizhang Lìu

Li Qiang Liu

Xiangru Li

Wenze Yang

Zhou Yan

A method for controlling a robot based on a trajectory of a center of mass (COM) of the robot includes: calculate a desired periodic trajectory of the robot in a single gait cycle based on a dynamic equation constructed according to a simplified model of the robot; correct the desired periodic trajectory according to a fed-back state of the COM of the robot; generate a desired trajectory of the COM of the robot using the corrected desired periodic trajectory; and control motion of the robot according to the desired trajectory of the COM of the robot.

Robot control method based on trajectory of center of mass, robot and computer-readable storage medium

A robot step control method, a robot control apparatus, and a storage medium are provided. The method includes: determining an expected support force of two legs of a biped robot according to zero-moment point planning data and actual position data of the two legs at a current moment, and determining a current desired joint posture angle of ankle joints of the two legs and a desired joint position matching an actual leg support state using a compliance control algorithm based on an expected support force of the two legs, and centroid movement planning data, centroid actual movement data, step planning data and actual force data of the two legs at the current moment. In such manner, all-direction compliant controls can be performed on a desired leg pose condition according to the actual motion status of the biped robot, thereby improving the walking stability and terrain adaptability of the biped robot.

Robot step control method, robot control apparatus, and computer readable storage medium

Embodiments of the disclosure provide an image data processing method and apparatus, an electronic device, and a storage medium. The method includes: obtaining, in response to an expression image trigger operation of a target user, an operation object associated with the expression image trigger operation on a session page of an instant messaging application; based on the operation object being image data, extracting a target object feature in the image data, and obtaining a first image set associated with the target object feature from an object feature library; and determining a target expression image in response to a selection trigger operation of the target user in the first image set, and displaying the target expression image on the session page.

Image data processing method and apparatus, electronic device, and storage medium

A robot control method, a computer-readable storage medium, and a robot are provided. The method includes: obtaining first motion data, where the first motion data is human arm end motion data collected by a virtual reality device; obtaining second motion data by mapping the first motion data to a working space of an end of a robotic arm of the robot; obtaining a state of each joint of the robotic arm of the robot, and obtaining control data of the joint by performing a quadratic programming solving on the second motion data and the state of the joint; and controlling, by a motion controller of the robot, the robotic arm of the robot to move according to the obtained control data of each joint of the robot by transmitting the control data of the joint to the motion controller, so that the control method is relatively more natural, intuitive, and flexible.

Robot control method, computer-readable storage medium, and robot

This application provides a message display method and apparatus, a terminal, and a computer-readable storage medium. The method includes: displaying a session interface of a target session, and obtaining a message set of the target session; in response to that a plurality of continuous and repeated session messages are included in the message set, obtaining a target session message according to the plurality of continuous and repeated session messages; and replacing the plurality of continuous and repeated session messages in the message set with the target session message, and displaying a replaced message set in the session interface of the target session.

Message display method and apparatus, terminal, and computer-readable storage medium

A robot control method, a robot, and a computer-readable storage medium are provided. The method includes: obtaining a trajectory planning parameter of joint(s) of the robot, force data of an end of the robot, and force data of the joint(s); obtaining an end admittance compensation amount; determining a first joint parameter and a first slack variable corresponding to the end admittance compensation amount in a joint space of each of the joint(s) based on the end admittance compensation amount and the trajectory planning parameter; obtaining a joint admittance compensation amount; determining a second joint parameter based on the first joint parameter, the first slack variable, the joint admittance compensation amount, and the trajectory planning parameter; determining a target joint commanding position based on the second joint parameter; and controlling the robot to move according to the target joint commanding position.

Robot control method, robot, and computer-readable storage medium

A joint acceleration planning method, a redundant robot using the same, and a computer readable storage medium are provided. The method includes: obtaining an optimization objective function, a joint acceleration inequation constraint function and a joint acceleration equation constraint function corresponding to the optimization target from a quadratic programming function library, where the optimization objective function is an objective function obtained based on the upper and lower limits of the optimization target and a Euclidean distance algorithm; and obtaining a joint acceleration planning result by performing a quadratic optimization solving on a joint acceleration of each of the target joints of the robot at time k according to the end Cartesian space speed at time k+1, the joint parameter set of the target joints of the robot at time k, the sampling period, the optimization objective function, the joint acceleration inequation constraint function, and the joint acceleration equation constraint function.

Redundant robot joint acceleration planning method, redundant robot using the same, and computer readable storage medium

Embodiments of the present disclosure provide a resource allocation method, a packet communication method, and an apparatus. The resource allocation method includes: dividing, by a controller, a cloud data center network into multiple independent logical zones; allocating a corresponding tunnel label range to each logical zone; when a virtual network request for allocating a resource to a tenant is received, searching the logical zones to obtain a logical zone that meets the virtual network request; and allocating a tunnel label to the tenant according to a tunnel label range corresponding to the logical zone that meets the virtual network request. Because each logical zone is independent, during tunnel label range allocation, a same tunnel label range can be allocated to different logical zones. In this way, a same tunnel label can be allocated to different switches in different logical zones, implementing reuse of the tunnel label.

Resource allocation method, packet communication method, and apparatus

The present invention provides a method, device, processing center and system for desktop synchronization and relates to the technical field of network. The method comprises the steps of: obtaining desktop data from a processing center; determining whether an application program corresponding to the desktop data has been installed; associating the desktop data with the corresponding application program if it is determined that the corresponding application program has been installed. The present invention resolves the problem that the present cloud storage scheme could only simply store and synchronize files or folders, and achieves the effects that the desktop can be synchronized across each platforms, and the files in the desktop data can be used, edited and modified after the synchronization across platforms, by associating the locally application program with the desktop data while synchronizing the desktop data.

Method, device, processing center and system for desktop synchronization

A mirror desktop is started to acquire desktop icons of an operation object desktop such that desktop icon content of the mirror desktop is substantially the same as that of the operation object desktop. The desktop icons of the mirror desktop are displayed in accordance with a saved arrangement manner of the mirror desktop without affecting the original arrangement mode of the operation object desktop so as to provide a personalized mirror desktop for the user. The operation object desktop is not directly operated, and therefore the loss and disorder of the content of the operation object desktop can be avoided.

Method and device for managing desktop with an additional mirror desktop in the same operation interface

This provides a terminal location obtaining method, device, and system. The method includes: a first terminal transmitting a location-obtaining request to a second terminal; the second terminal starting a positioning function to obtain the current location information of the second terminal, and transmitting the obtained location information of the second terminal to the first terminal; the first terminal using the location information of the second terminal as the location information of the first terminal, and performing a location-based application operation based on the location information. This can obtain relatively accurate location information of a terminal when the terminal is incapable of determining its own location when location determination is needed. This can also transmit the location information to a corresponding application server to avoid inaccuracy issues with determining a location based on the IP address of a terminal. This can facilitate an accurate location-based push message service.

Growing community of inventors

Shenzhen, China

Xuan Luo