Huawei Technologies Co., Limited

Ubtech Robotics Corp Ltd

Zhe Xu

Huangwei Wu

Youjun Xiong

Mingguo Zhao

Jun Chen

Xiaoxiao Zheng

Chao Wang

Lingli Pang

Jiejing Huang

Ming Wen

Jieke Shi

A multi-legged robot load balancing method, a multi-legged robot, and a storage medium are provided. The method includes: calculating a current position and velocity of a load positioned on a torso according to a value measured by a force sensor; calculating, through a feedback control law, a desired posture of the torso required for keeping a balance of the load according to the current position and the current velocity of the load; determining an expected position of virtual joints according to the desired posture of the torso, and calculating, using a full dynamics control algorithm of the robot, a joint torque for each real joint of the robot according to the expected position; and transmitting the calculated joint torques to the corresponding real joints so that the torso is moved to reach the desired posture by moving the corresponding real joints.

Multi-legged robot load balancing method, multi-legged robot, and storage medium

A method for a multi-legged robot having a body and a number of legs, includes: obtaining a current pose of the body, forces applied to the body, and joint angles of each of supporting legs of the legs; creating a mapping matrix from the forces applied to the body to desired support forces applied to soles of the supporting legs; obtaining priority targets by prioritizing the forces acting in different directions, determining a weight matrix for each priority target, and creating an optimization model of the support forces for each priority target based on the mapping matrix and the weight matrices; solving the optimization model of each of the priority targets to obtain the desired support forces corresponding to each of the priority targets; and calculating joint torques of the supporting legs for joint control, based on the solved desired support forces and Jacobian matrices corresponding to the supporting legs.

Joint control method, computer-readable storage medium and multi-legged robot

An electronic device and a fingerprint recognition method are provided. The electronic device includes: a fingerprint recognition sensor configured to capture, according to a swipe mode or a press mode, a user fingerprint in an area displayed on a touchscreen; at least one memory configured to store a fingerprint template; at least one processor configured to determine and set a fingerprint recognition mode in a first display area; and the touchscreen configured to detect a first input in the first display area; where the processor is further configured to instruct the fingerprint recognition sensor to capture a user fingerprint according to the set mode and match the fingerprint captured by the fingerprint recognition sensor with the fingerprint template.

Electronic device and fingerprint recognition method

An information search method and apparatus includes receiving search information entered by a user, acquiring, according to the search information, at least one search element and at least one piece of key information associated with each search element, sending the at least one piece of key information associated with each search element, to at least one search application corresponding to the search element such that the at least one search application performs a search according to the at least one piece of key information associated with the search element, and receiving search results returned by the at least one search application, and outputting the search results.

Information search method and apparatus

A mobile terminal includes: a receiver, configured to receive a first message including web page address information; a transmitter, configured to send a message notification to the wearable device; a processor, configured to record a first moment at which that the mobile terminal is used is detected, where the processor is configured to determine that a user has chosen to view the first message; the processor is configured to determine whether a time interval between a second moment and the first moment is less than a time interval threshold; and the receiver is further configured to obtain web page content when the time interval is less than the time interval threshold; and a display, configured to display the web page content. The mobile terminal obtains and displays the web page content only when the foregoing time interval requirement is satisfied.

Mobile terminal, wearable device, and message transfer method

Embodiments relate to a message processing method and apparatus. A first message is received that is sent by a first device to a second device. A determination is made as to whether the first message is a privacy message. When the first message is a privacy message, a second message is generated according to the first message, where the second message carries a first privacy label. The second message is sent to the second device, so that the second device displays a notification of the second message on a notification screen according to the first privacy label after receiving the second message. After receiving the second message, the second device displays the second message according to whether the second message carries the first privacy label.

Message processing method and apparatus

The present invention discloses a method and an apparatus for compressing and decompressing an IP data packet. The method includes: performing, by a first device, compression processing on IP data in an IP data packet according to a first compression algorithm; and encapsulating, by the first device, the IP data after the compression processing into a packet data convergence protocol (PDCP) data packet, where header information of the PDCP data packet includes identifier information, where the identifier information is used to indicate the first compression algorithm or indicate that the IP data is compressed.

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Shenzhen, China

Zhe Xu