Tencent Technology (shenzhen) Company Limited

Tsinghua University

Tencent Technology Company Limited

Zhengyou Zhang

Yu Zheng

Wanchao Chi

Yuan Dai

Ke Chen

Xinyang Jiang

Dongsheng Zhang

Jie Lai

Yonggen Ling

Chuanfei Guo

Xiong Li

Peng Lu

Shuai Wang

Shenghao Zhang

Qinqin Zhou

Sicheng Yang

Xiangyu Chen

Siyuan Liu

Ruirui Zhang

Ruoxuan Jiang

Yan Zhang

Qiang Li

Bin Gao

Huaqiang Wu

He Qian

Lei Wei

Kun Xiong

Jianshi Tang

Cheng Zhou

Ang Li

Jingfan Zhang

Jian Yuan

Wangwei Lee

Zidong Cao

Zejian Yuan

Zhongjin Xu

Ziyi Yin

Ziyang Song

Kewei Xie

Ningning Bai

Zhenxuan Zhao

Jiahua Wang

Liangwei Xu

Qiwei 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 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 a leg assembly and device for a robot. The leg assembly includes: a connection assembly and a sole assembly; the connection assembly is configured to connect the leg assembly and a robot body. The sole assembly includes a sole plate, a first force sensor, a distance sensor, and an attitude sensor. The connection assembly includes a second force sensor and a shank connector. The first force sensor is configured to detect a normal reaction force suffered by the sole plate after being in contact with an obstacle; the second force sensor is configured to detect a resultant force of reaction forces suffered by the sole plate after being in contact with the obstacle.

Leg assembly and device for robot

A method for controlling motion of a legged robot includes: determining, according to state data of the legged robot at a start moment in a preset period, a candidate landing point of each foot in the preset period; determining, according to the state data at the start moment and the candidate landing point of each foot, a first correlation between a centroid position change parameter, a step duty ratio, a candidate landing point, and a foot contact force; determining, under a constraint of a constraint condition set, a target centroid position change parameter, a target step duty ratio, and a target landing point satisfying the first correlation; and controlling, according to the target centroid position change parameter, the target step duty ratio, and the target landing point, motion of the legged robot in the preset period.

Method and apparatus for controlling motion of legged robot, device, and medium

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 legged robot motion control method includes: acquiring centroid state data of a spatial path start point and a spatial path end point of a motion path; determining a target landing point of afoot of the legged robot in the motion path based on the spatial path start point and the spatial path end point; determining a change relationship between a centroid position change coefficient and a foot contact force based on the centroid state data; selecting, under constraint of a constraint condition set, a target centroid position change coefficient that meets the change relationship; the constraint condition set including a spatial landing point constraint condition; determining a target motion control parameter according to the target centroid position change coefficient and the target landing point of the foot; and controlling, based on the target motion control parameter, the legged robot to perform motion according to the motion path.

Legged robot motion control method, apparatus, and device, and medium

A method of depth map completion is described. A color map and a sparse depth map of a target scenario can be received. Resolutions of the color map and the sparse depth map are adjusted to generate n pairs of color maps and sparse depth maps of n different resolutions. The n pairs of color maps and the sparse depth maps can be processed to generate n prediction result maps using a cascade hourglass network including n levels of hourglass networks. Each of the n pair is input to a respective one of the n levels to generate the respective one of the n prediction result maps. The n prediction result maps each include a dense depth map of the same resolution as the corresponding pair. A final dense depth map of the target scenario can be generated according to the dense depth maps.

Image processing method, apparatus, and device, path planning method, apparatus, and device, and storage medium

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

A vision-based tactile measurement method is provided, performed by a computer device (e.g., a chip) connected to a tactile sensor, the tactile sensor including a sensing face and an image sensing component, and the sensing face being provided with a marking pattern. The method includes: obtaining an image sequence collected by the image sensing component of the sensing face, each image of the image sequence comprising one instance of the marking pattern; calculating a difference feature of the marking patterns in adjacent images of the image sequence; and processing the difference feature of the marking patterns using a feedforward neural network to obtain a tactile measurement result, a quantity of hidden layers in the feedforward neural network being less than a threshold.

Vision-based tactile measurement method and apparatus, chip, and storage medium

This disclosure relates to a sensor, a sensing device, and a sensing method. The sensor may include an upper electrode layer, a dielectric layer, and a lower electrode layer. A first dielectric layer surface of the dielectric layer may be attached to a first upper electrode surface of the upper electrode layer. A second dielectric layer surface of the dielectric layer may be attached to a first lower electrode surface of the lower electrode layer. The second dielectric layer surface may be opposite to the first dielectric layer surface. The upper electrode layer may include at least two sub-upper electrodes arranged in an array. An electrode gap may exist between the at least two sub-upper electrodes.

Sensor, sensing device, and sensing method

This disclosure relates to a spatial calibration method and apparatus of a robot ontology coordinate system based on a visual perception device and a storage medium. The method includes: obtaining first transformation relationships; obtaining second transformation relationships; using a transformation relationship between a visual perception coordinate system and an ontology coordinate system as an unknown variable; and resolving the unknown variable based on an equivalence relationship between a transformation relationship obtained according to the first transformation relationships and the unknown variable and a transformation relationship obtained according to the second transformation relationships and the unknown variable, to obtain the transformation relationship between the visual perception coordinate system and the ontology coordinate system.

Visual perception device based spatial calibration method and apparatus for robot body coordinate system, and storage medium

Embodiments of the present disclosure provide a slip simulation apparatus, a controlled robot, a game handle, a virtual game console, and a control system. The slip simulation apparatus includes a base; at least one motor arranged on the base; a slip simulation controller, configured to: receive slip data, and generate a rotating speed control signal used for controlling the at least one motor; and at least one synchronous wheel, at least one synchronous belt, and at least one limit apparatus associated with the motor, the synchronous wheel being sleeved on the synchronous belt and the limit apparatus, the motor being drivingly connected to the at least one synchronous wheel to drive, according to the rotating speed control signal, the at least one synchronous wheel and the at least one synchronous belt to rotate.

Slip simulation apparatus, controlled robot, and game handle

This application discloses a conductive paste, a preparation method thereof, and a preparation method of a conductive film using the conductive paste. The conductive paste comprises: a thermoplastic polyurethane, conductive particles, and an organic solvent, the thermoplastic polyurethane and the conductive particles being proportionally mixed in the organic solvent, and the thermoplastic polyurethane being dispersed in the form of particles among the conductive particles. A thermoplastic polyurethane elastomer is used as a binder, and the conductive particles are mixed in the organic solvent containing the thermoplastic polyurethane elastomer. The conductive particles ensure the conductivity of the conductive film prepared using the conductive paste. The thermoplastic polyurethane has strong adhesion ability, and is suitable for use on the surface of most substrates, to form a conductive film with good adhesion and no cracking.

Conductive paste, preparation method thereof, and preparation method of conductive film

A legged robot motion control method, apparatus, and device, and a storage medium. The method includes: acquiring center of mass state data corresponding to a spatial path starting point and spatial path ending point of a motion path; determining a candidate foothold of each foot in the motion path based on the spatial path starting point and the spatial path ending point; determining a variation relationship between a center of mass position variation coefficient and a foot contact force based on the center of mass state data; screening out, under restrictions of a constraint set, a target center of mass position variation coefficient and target foothold that satisfy the variation relationship; determining a target motion control parameter according to the target center of mass position variation coefficient and the target foothold; and controlling a legged robot based on the target motion control parameter to move according to the motion path.

Legged robot motion control method, apparatus, and device, and storage medium

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Shenzhen, China

Zhengyou Zhang