Abstract: A building element for a modular device includes a male connector comprising M first magnets, a first ground terminal, a first detection terminal, a first power terminal, and a first signal terminal; and a female connector comprising M second magnets that are magnetically attractable to the first magnets, N second ground terminals, O second detection terminals, P second power terminals, and a second signal terminal. When the male connector of one building element is mechanically connected to the female connector of another building element, the first ground terminal, the first detection terminal, the first power terminal and the first signal terminal of the male connector of the one of two building elements respectively come into contact with one of the second ground terminals, one of the second detection terminals, one of the second power terminals, and the second signal terminal of the other one of the two building elements.

Abstract: The present disclosure provides an eye animated expression display method. The method includes: receiving an instruction for displaying an eye animated expression; parsing a JSON file storing the eye animated emoticon to obtain a parsing result; and displaying the eye animated emoticon on the eye display screen based on the parsing result. The present disclosure further provides a robot. In the above-mentioned manner, the present disclosure is capable of improving the interactive performance of the eyes of the robot while reducing the space for storing eye animated expressions.

Abstract: The present disclosure provides a control method for an electronically controlled servo mechanism as well as an apparatus and a robot thereof. The method is for an electronically controlled servo mechanism including a servo having a PI controller, which includes: obtaining related parameter(s) of the PI controller before tuning, where the related parameters includes a proportional coefficient and an integral coefficient; obtaining a current rotational angle of an output shaft of the servo, and calculating an angular deviation between the obtained current rotational angle and an expected rotational angle of an output shaft of the servo; and tuning the related parameter(s) of the PI controller based on the proportional coefficient, the integral coefficient, and the angular deviation. In such a manner, the parameter(s) of the PI controller are tuned to make it equivalent to a P controller, thereby avoiding the large oscillation caused by external interference.

Abstract: A brake assembly for a servo including a motor includes: a brake disk fixed to and rotatable together with the output shaft of the motor of the servo, the brake disk having a lateral wall defining at least one opening; and a linear motion actuator including a plunger and an elastic member. The plunger sides from a first position where a first end of the plunger is received in the at least one opening to a second position where the first end of the plunger is disengaged from the brake disk when the linear motion actuator is energized. The elastic member applies an elastic force to cause the plunger to slide from the second position to the first position when the linear motion actuator is deenergized so as to stop rotation of the output shaft of the motor.

Abstract: An arm assembly of a robot includes a servo coupled to the chest of the robot, an upper arm driven by the servo, a forearm rotatably coupled to the upper arm, a hand connected to an end of the forearm and rotatable about a first axis extending along a lengthwise direction of the forearm; and a hand transmission mechanism configured to transmit motion from the servo to the hand so as to drive the hand to rotate about the first axis.

Abstract: A robot joint controlling method includes: receiving a motion command; determining one or more joint servos that are needed to execute the motion command; and determining whether the one or more joint servos are in an occupied state, and if not, executing the motion command so as to control the one or more joint servos to operate accordingly.

Abstract: The present disclosure provides a chassis comprising a frame, two hanging units symmetrically provided at both sides of the frame, and a front guiding wheel and a rear universal wheel provided below the frame, wherein each of the hanging units comprises a mounting rack fixedly connected to the frame, a hanging rack slidably connected to the mounting rack, and a driving wheel rotatably connected to the hanging rack, and the front guiding wheel is provided with a first driving motor, and the driving wheel of each hanging unit is driven by a second driving motor, and wherein a closed loop speed control system is formed between the first driving motor and both second driving motors, such that a rotational angle of the front guiding wheel is adjustable via the first driving motor when revolving speeds of both second driving motors are changed.

Abstract: The present disclosure is provides a servo control method as well as an apparatus and a robot using the same. The method includes: obtaining a teeth force reduction multiple of a gear of a servo; creating a voltage queue based on the teeth force reduction multiple; calculating a target loading voltage corresponding to a current moment based on a voltage queue; and applying the target loading voltage on a motor of the servo, wherein the target loading voltage is for driving the motor of the servo to rotate. Through the above-mentioned method, the loading voltage can be effectively reduced when the servo is started, thereby protecting teeth of the gear of the servo and increasing the service life of the servo.

Abstract: An assembly for driving a waist of a humanoid robot to rotate with respect to a chest of the humanoid robot includes a support assembly fixed in the chest, a servo mounted to the support assembly, and a rotating member fixed to the waist and rotatable when driven by the servo.

Abstract: The present disclosure discloses a method and an apparatus for judging termination of sound reception and a terminal device. The method including: performing a voice activity detection on a current sound clip to obtain a first value; performing a semantic relevance detection on the current sound clip and a next sound clip by deep learning to obtain a second value; performing a weighted calculation on the first value and the second value to obtain a third value; comparing the third value with a preset threshold; and determining whether sound reception of the current sound clip is terminated based on the comparison result.

Abstract: The present disclosure provides a servo motion control method and apparatus, as well as a robot using the same. The method includes: obtaining position parameters of a plurality of control vertices of a servo in a constant speed motion; creating a first smooth trajectory equation of the servo to move from the starting point to the ending point based on the position parameters of the plurality of control vertices; and controlling the servo to move based on the first smooth trajectory equation. The present disclosure is capable of realizing the smooth control of the motion of the servo from a starting position to an ending position, and avoiding the severe impacts during starting and stopping which affect the stability of the servo while the servo is in a constant high-speed motion.

Abstract: A motion target direction angle obtaining method and a robot using the same. The method includes: creating an absolute coordinate system, and obtaining an absolute position coordinate of at least one point after the first point in the absolute coordinate system; creating a relative coordinate system with the first point as an origin, and obtaining a relative position coordinate corresponding to the at least one point In the relative coordinate system; calculating matrix parameters of a transformation matrix based on the absolute position coordinate of the at least one point and the relative position coordinate corresponding to the at least one point; and determining a direction angle of the motion target at the first point based on the matrix parameters. Combines an absolute portioning method and a relative positioning method to calculate the direction angle.

Abstract: The present disclosure provides an impedance control method for a biped robot as well as an apparatus and a biped robot using the same. The method includes: correcting an impact force on a landing leg in the two legs of the biped robot using a natural attenuation function, and taking the corrected impact force as an input of an impedance control; obtaining an impedance model of the biped robot; determining a transfer function of the impedance control based on the impedance model; calculating an output of the impedance control based on the input of the impedance control and the transfer function of the impedance control; determining a joint angle of each joint based on the output of the impedance control and a planned pose of the biped robot; and transmitting joint angle information of each joint to motor(s) of the joint to perform the impedance control.

Abstract: The present disclosure provides a suspension system, and a chassis with the same. The system includes: a fixing frame having an opening; a suspension frame disposed at the opening; and a driving wheel rotationally coupled to the suspension frame. In which, two ends of the suspension frame are respectively disposed on two ends of the fixing frame at the two sides of the opening to be selectively moved up and down along a height direction of the fixing frame, and two elastic members are respectively disposed between each of the two ends of the suspension frame and the corresponding end of the fixing frame at the two sides of the opening. In the present disclosure, the fixing frame and the suspension frame can move with respect to each other in a vertical direction, and the resetting adjustment is realized through the elastic member.

Abstract: The present disclosure provides a robot charging control method, apparatus, and robot thereof. The method includes: obtaining a linear distance between a charging portion of the robot and a charging station of a charging device, if a charging instruction is detected; determining polar coordinate information of a preset target position in a polar coordinate system taking the position of the charging portion as a pole based on the linear distance; moving the robot to the preset target position according to the polar coordinate information; rotating the robot in situ at the preset target position to a position the charging portion matching the charging station; and moving the robot from the preset target position to the charging station to establish an electrical connection for charging the robot between the charging portion and the charging station. The present disclosure realizes that a navigation route is unnecessary to be made in advance.

Abstract: The present disclosure relates to a data interaction method, including: receiving a search request from a service layer, and transmitting the search request to a search application server. The search application server is configured to manage the response data obtained from at least one third-party application. The method further includes receiving the response data transmitted from the search application server, and transmitting the response data to the service layer. As such, the time of accessing the third-party applications may be reduced, the data-accessing time may be reduced, and the data-accessing performance may be improved.

Abstract: A finger of a robotic hand includes a palm portion, a fixed phalanx fixed to the palm portion, a first movable phalanx rotatably connected to the fixed phalanx, a second movable phalanx rotatably connected to the first movable phalanx, a first pulling member to pull the first movable phalanx so as to rotate the first movable phalanx with respect to the fixed phalanx, a second pulling member to pull the second movable phalanx so as to rotate the second movable phalanx with respect to the first movable phalanx, and an actuator to pull the first pulling member.

Abstract: The present disclosure relates to positioning technology, and particularly to a positioning method a positioning device, and a robot. In which, the method includes: obtaining first location information of the target object at a current moment being predicted by an extended Kalman filter model at a last moment; obtaining second location information of the target object at the current moment being collected by a sensor; predicting third location information of the target object at the current moment through the extended Kalman filter model based on the first location information and the second location information; and determining an error value of the third location information under a preset constraint condition, and correcting the third location information according, to the error value to obtain final location information of the target object at the current moment.