Abstract: This disclosure is related to a robot motion control method and apparatus. The method includes: obtaining a center-of-mass reference trajectory used for guiding the robot to execute a target motion; obtaining, based on optimization of an objective function, center-of-mass control information for controlling the robot to follow the center-of-mass reference trajectory to move; generating joint control information according to the center-of-mass control information and a structure matrix of the robot; and controlling the robot to execute the target motion based on the joint control information.

Abstract: 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.

Abstract: 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.

Abstract: This disclosure provides a flexible capacitor array and a preparation method therefor, a capacitor array detection system, and a robot. The flexible capacitor array includes: a first flexible electrode layer including a first electrode array; a second flexible electrode layer including a second electrode array arranged opposite to the first electrode array; and a spacer layer and a dielectric layer, the spacer layer and the dielectric layer being arranged between each electrode pair arranged opposite in the first electrode array and the second electrode array. A unit capacitor in the flexible capacitor array includes the electrode pair, the spacer layer, and the dielectric layer.

Abstract: A silybin injection contains silybin, sulfobutyl ether-?-cyclodextrin, an organic solvent for injection, a pH regulator, and may further contain a co-solvent, a lyophilization bulking agent, and water for injection.

Abstract: A liposomal paclitaxel palmitate formulation, including: 0.1-1% (w/v) of a paclitaxel palmitate; 1-10% (w/v) of a lecithin; 0.05-1.0% (w/v) of distearoyl phosphoethanolamine-polyethylene glycol 2000 (DSPE-PEG2000); and water. A method for preparing the formulation includes: mixing the paclitaxel palmitate, lecithin, cholesterol, DSPE-PEG2000, and an organic solvent, and heating the resulting mixture at 25-75° C. to yield an organic phase; heating an aqueous phase to 25-75° C., and stirring and adding the organic phase to the aqueous phase, to yield a crude liposome; emulsifying the crude liposome, to yield a liposome solution; adding a cryoprotector to the liposome solution, adding water to the liposome solution to reach a preset calibration, adding a pH modifier, filtering the liposome solution, and packaging.

Abstract: A temsirolimus liposome and preparation method thereof is provided. The formulation of the present invention contains temsirolimus, a phospholipid, a PEGylated phospholipid, and can further contain cholesterol, a stabilizer and a lyoprotectant. In view of the unique physicochemical properties of temsirolimus, the present invention performed a matching study on the formulation composition and preparation process, and developed a temsirolimus liposome, preferably a lyophilized powder injection, which is safe, stable in quality, simple in preparation process, and can be industrially produced. The preparation overcomes the disadvantages of poor safety, stability and the like in the existing preparations, establishing a solid foundation for the further study and application of temsirolimus in the anti-tumor field.

Abstract: Provided in the present invention is a cabazitaxel fat emulsion injection, wherein the cabazitaxel fat emulsion injection contains cabazitaxel, a medium chain triglyceride for injection, and lecithin. Also provided in the present invention are the method for preparing the cabazitaxel fat emulsion injection and the use thereof in preparing a drug for treating prostate cancer.

Abstract: A silybin injection contains silybin, sulfobutyl ether-?-cyclodextrin, an organic solvent for injection and may further contain a co-solvent, a lyophilization proppant, a pH regulator, water for injection and the like.