Abstract: A DTC circuit, includes: a DAC connected to a first node; a first switch connected between a first power source and a second node, and to provide a charge current to the second node according to a first switching signal; and a second switch connected between the first node and the second node, and to electrically connect the DAC to the second node according to a second switching signal. The DAC is to be charged to generate a voltage ramp corresponding to the charge current during a first DTC operational phase when the first and second switching signals have an active level to turn on the first and second switches, and to generate an input control word dependent voltage according to an input control word during a second DTC operational phase when the first and second switching signals have an inactive level to turn off the first and second switches.

Abstract: Disclosed are a counterweight structure, a robot and a method for controlling the robot. The counterweight structure includes an electromagnetic device, a counterweight block and a reset piece. The reset piece is clamped between the electromagnetic device and the counterweight block. The electromagnetic device is magnetic after being powered on, to attract the counterweight block to move towards the electromagnetic device and compress the reset piece.

Abstract: Disclosed are a rotating wheel apparatus, a driving wheel and a robot. The rotating wheel apparatus includes: a rotating assembly, a bearing and a supporting base. The rotating assembly is provided with an accommodating groove. The bearing is accommodated in the accommodating groove and connected to the rotating assembly. The supporting base is close to a notch of the accommodating groove, the supporting base is connected to the bearing, so that the rotating assembly is rotationally connected to the supporting base.

Abstract: A DTC circuit, includes: a DAC connected to a first node; a first switch connected between a first power source and a second node, and to provide a charge current to the second node according to a first switching signal; and a second switch connected between the first node and the second node, and to electrically connect the DAC to the second node according to a second switching signal. The DAC is to be charged to generate a voltage ramp corresponding to the charge current during a first DTC operational phase when the first and second switching signals have an active level to turn on the first and second switches, and to generate an input control word dependent voltage according to an input control word during a second DTC operational phase when the first and second switching signals have an inactive level to turn off the first and second switches.

Abstract: A DTC circuit, includes: a DAC connected to a first node; a first switch connected between a first power source and a second node, and to provide a charge current to the second node according to a first switching signal; and a second switch connected between the first node and the second node, and to electrically connect the DAC to the second node according to a second switching signal. The DAC is to be charged to generate a voltage ramp corresponding to the charge current during a first DTC operational phase when the first and second switching signals have an active level to turn on the first and second switches, and to generate an input control word dependent voltage according to an input control word during a second DTC operational phase when the first and second switching signals have an inactive level to turn off the first and second switches.