Abstract: A trajectory planning method, a computer-readable storage medium, and a robot are provided. The method includes: constructing a phase variable of a trajectory planning of a robot, where the phase variable is a function of two position components of a torso of the robot on a horizontal plane; and performing, using the phase variable replacing a time variable, the trajectory planning on a swinging leg of the robot in each preset coordinate axis direction. In this manner, the robot can no longer continue to follow the established trajectory after being disturbed by the environment, but make state adjustments according to the disturbance received to offset the impact of the disturbance, thereby maintaining walking stability and avoiding the problem of early or late landing of the swinging leg.

Abstract: A method includes: performing semantic segmentation on an RGBD image to obtain a semantic label of each pixel of the image; performing reconstruction of a point cloud based on the image and mapping the semantic label of each pixel of the image into the point cloud to respectively obtain a semantic point cloud of a current frame with the semantic labels and a three-dimensional scene semantic map with the semantic labels; generating two-dimensional discrete semantic feature points for each of three-dimensional semantic point clouds in the current frame and the semantic map to obtain a corresponding two-dimensional semantic feature point image, and performing a three-dimensional semantic feature description on each feature point in the two-dimensional semantic feature point image; and performing feature matching on all feature points in the current frame and all feature points in the semantic map to obtain positioning information based on the three-dimensional semantic feature description.

Abstract: A method for estimating a pose of a humanoid robot includes: processing obtained pose parameters of a waist of the humanoid robot and plantar motion parameters of the humanoid robot to obtain the measured pose parameters of a center point of the waist of the humanoid robot; calculating predicted pose parameters of the center point of the waist according to the obtained pose parameters of the waist; and fusing the measured pose parameters and the predicted pose parameters to obtain estimated pose parameters of the center point of the waist.

Abstract: A method of controlling a robot includes: obtaining an inertia matrix and a slack variable of the robot, and determining a momentum equation of the robot according to the inertia matrix and the slack variable; obtaining reference joint angles corresponding to a reference action of the robot; determining an optimization objective function of the momentum equation according to a first preset weight coefficient of the slack variable and a second preset weight coefficient of the reference joint angles; and determining joint angles of the robot according to the optimization objective function, and driving the robot to move according to the joint angles of the robot.

Abstract: 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.

Abstract: A bidirectional energy storage device for a joint includes: a sleeve comprising an open end and an opposite, closed end; an elastic member attached to the sleeve; a sliding member slidably arranged at the open end of the sleeve, wherein opposite ends of the elastic member are respectively in contact with the closed end of the sleeve and the sliding member; a first telescopic link comprising a first end pivotally connected to the sliding member and an opposite, second end; and a second telescopic link comprising a first end pivotally connected to the sliding member and a second end. The second ends of the first telescopic link and the second telescopic link are pivotally connected to a rotating member at an end of the joint, and the first telescopic link and the second telescopic link are to extend and retract to drive the sliding member to side along the sleeve.

Abstract: A method includes: acquiring an input sentence in a first language in a current round of conversation; translating the input sentence in the first language to obtain an input sentence in a second language, according to dialogue contents in the first language and dialogue contents in the second language that have a mutual translation relationship with the dialogue contents in the first language in historical rounds of conversation; invoking a multi-round conversation generation model to parse the input sentence in the second language in the current round of conversation to generate an output sentence in the second language in the current round of conversation; translating the output sentence in the second language in the current round of conversation to obtain at least one candidate result in the first language; and determining an output sentence in the first language from the at least one candidate result in the first language.

Abstract: A biped robot control methods and a biped robot using the same as well as a computer readable storage medium are provided. The method includes: obtaining an initial distance between a centroid of a double inverted pendulum model of the biped robot and a support point of the biped robot, an initial moving speed of the centroid and an initial displacement of the centroid; calculating a measured value of a stable point of the doable inverted pendulum model based on the initial distance and the initial moving speed; calculating a control output quantity based on the initial moving speed and the measured value of the stable point; calculating a desired displacement of the centroid of the double-inverted pendulum model based on the initial moving speed, the initial displacement, and the control output quantity; and controlling the biped robot to move laterally according to the desired displacement.

Abstract: A robot stability control method includes: obtaining a desired zero moment point (ZMP) and a fed-back actual ZMP of a robot at a current moment; based on a ZMP tracking control model, the desired ZMP and the actual ZMP, calculating a desired value of a motion state of a center of mass of the robot at the current moment, wherein the desired value of the motion state of the center of mass comprises a correction amount of the position of the center of mass; based on a spring-mass-damping-acceleration model and the desired value of the motion state of the center of mass, calculating a lead control input amount for the correction amount of the position of the center of mass; and controlling motion of the robot according to the lead control input amount and a planned value of the position of the center of mass at the current moment.

Abstract: A gesture recognition method includes: acquiring a target image containing a gesture to be recognized; inputting the target image to a gesture recognition model that has a first sub-model, a second sub-model, and a third sub-model, the first sub-model is to determine a gesture category and a gesture center point, the second sub-model is to determine an offset of the gesture center point, and the third sub-model is to determine a length and a width of a bounding box for the gesture to be recognized; acquiring an output result from the gesture recognition model, the output result includes the gesture category, the gesture center point, and the offset of the gesture center point, and the length and the width of the bounding box; and determining the gesture category and a position of the bounding box of the gesture to be recognized according to the output result.

Abstract: A jumping motion control method for a biped robot includes: before feet of the biped robot leaves a support surface, estimating a motion trajectory of the biped robot that leaves the support surface according to a period of time when the biped robot stays or flips in the air; calculating a first motion angle of each joint of legs of the biped robot according to the motion trajectory and inverse kinematics; determining a constraint condition according to a motion type to which an action to be performed by the biped robot corresponds; optimizing the first motion angles according to the constraint condition to obtain a second motion angle of each joint of legs of the biped robot; and controlling a jumping motion of the biped robot according to the second motion angles.

Abstract: A pet feeder includes: a housing, a heat conduction member, a temperature adjustment structure and a heat dissipation member that are arranged in the housing, a tray, a cover, and an actuating mechanism. The temperature adjustment structure includes a thermoelectric cooling member and a control module. The thermoelectric cooling member includes a first side connected to the heat conduction member and a second side in contact with the heat dissipation member. The control module is to control the first side of the thermoelectric cooling member to heat or cool. The tray is arranged in the housing and connected to the heat conduction member, and defines two compartments for placing pet food. The cover is arranged on the tray and defines a window in communication with the at least two compartments. The actuating mechanism is arranged in the housing and is to rotate the tray or the cover.

Abstract: A beacon map construction method, a device, and a computer-readable storage medium are provided. In the method, obtaining measured positions of beacons at the (i?1)-th station point by a measuring equipment; obtaining a first pose constraint relationship of the measuring equipment at the i-th station point relative to the (i?1)-th station point; obtaining a second pose constraint relationship of the i-th station point relative to beacons at the i-th station point, based on a pose of each of the beacons at the i-th station point, and the positions of the beacons at the (i?1)-th station point; determining an error equation of the i-th station point based on the first pose constraint relationship and the second pose constraint relationship; and optimizing the error equation to determine a position of the i-th station point, and constructing a beacon map based on the determined position of the i-th station point.

Abstract: A motion control method, a robot, and a computer-readable storage medium are provided. The method includes: calculating a task matrix and expected information of each task of the robot based on reference trajectory information of each task of the robot in a control period and state estimation information of each task of the robot in the control period; calculating a constraint matrix and a boundary of an inequality constraint that the robot needs to satisfy based on the state estimation information; constructing a hierarchical quadratic programming problem with recursive hierarchical projection based on all the information obtained above, a real-time determined weight coefficient of each task, and a real-time determined priority level of each task: and solving the hierarchical quadratic programming problem to obtain a result, and generating a joint control instruction for controlling each joint of the robot to move.

Abstract: A method includes: performing target detection on a current image to obtain detection information of a plurality of detected targets; obtaining position prediction information of each of a plurality of tracked targets and a number of times of tracking losses of targets from tracking information of each of the tracked targets, and determining a first matching threshold for each of the tracked targets according to the number of times of tracking losses of targets; calculating a motion matching degree between each of the tracked targets and each of the detected targets according to the position detection information and the position prediction information; for each of the tracked targets, obtaining a motion matching result according to the motion matching degree and the first matching threshold corresponding to the tracked target; and matching the detected targets and the tracked targets according to the motion matching results to obtain a tracking result.

Abstract: A robot control method, a robot, and a computer-readable storage medium are provided. The method includes: obtaining a linear motion model of a robot; determining a predicted state corresponding to each moment in a preset time period based on the linear motion model; determining an expected state corresponding to each moment in the preset time period; and determining a compensation value of a velocity of joint(s) at each moment from k-th moment to k+N?1-th moment based on the predicted state corresponding to each moment in the preset time period and the expected state corresponding to each moment in the preset time period, determining instruction parameter(s) at the k-th moment based on the compensation value of the velocity of the joint(s) at the k-th moment, and adjusting a position of each of the joint(s) of the robot according to the instruction parameter(s) at the k-th moment.

Abstract: A method for controlling gait of a biped robot includes: collecting a lateral center of mass (CoM) speed and a lateral CoM position of the biped robot when the biped robot walks in place; calculating phase variables of virtual constraints corresponding to the CoM of the biped robot in a first phase and a second phase according to the lateral CoM speed and the lateral CoM position; constructing motion trajectory calculation equations for the biped robot based on the phase variables corresponding to the first phase and the second phase, respectively; and finding inverse solutions for joints of the biped robot using the motion trajectory calculation equations to obtain joint angles corresponding to each of the joints of the biped robot to realize gait control.

Abstract: A bidirectional energy storage device for a joint includes: a sleeve comprising two, opposite open ends; a first sliding member and a second sliding member that are slidably disposed at the open ends of the sleeve, respectively; an elastic member comprising two, opposite ends that are respectively in contact with the first sliding member and the second sliding member; a first telescopic link comprising a first end and an opposite, second end, the first end of the first telescopic link pivotally connected to the first sliding member, the first telescopic link configured to rotate to drive the first sliding member to slide; a second telescopic link comprising a first end and an opposite, second end, the first end of the second telescopic link pivotally connected to the second sliding member, the second telescopic link configured to rotate to drive the second sliding member to slide.

Abstract: 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.

Abstract: A motion trajectory planning method for a robotic manipulator having a visual inspection system, includes: in response to a command instruction, obtaining environmental data collected by the visual inspection system; determining an initial DS model motion trajectory of the robotic manipulator according to the command instruction, the environmental data, and a preset teaching motion DS model library, wherein the teaching motion DS model library includes at least one DS model motion trajectory generated based on human teaching activities; and at least based on a result of determining whether there is an obstacle, whose pose is on the initial DS model motion trajectory, in a first object included in the environmental data, correcting the initial DS model motion trajectory to obtain a desired motion trajectory of the robotic manipulator.