Abstract: Provided are a quadruped robot and a spine-leg-foot coupling driving method, relating to the technical field of bionic robots. The quadruped robot includes an active spine, and two trunks. The two trunks are a fore trunk and a hind trunk, respectively. The two trunks can pitch and can be telescopically arranged at both ends of the active spine in a front-rear direction. The active spine can drive the trunks to pitch, extend and retract. In accordance with the spine-leg-foot coupling driving method, the pitch and retraction state of the spine and the energy storage and release state of legs during the running of a quadruped are stimulated by controlling the swing state of a swing output member, the extension and retraction state of the trunk and the energy storage and release state of an elastic leg.

Abstract: Embodiments of this application relate to the field of communication technologies and provide a channel state information feedback method, and an apparatus, to improve interaction efficiency of a communication system and reduce air interface signaling overheads. The method includes the following operations: A network device determines configuration information, where the configuration information indicates resources of N reference signals for channel measurement, and N is a positive integer greater than 1. The network device sends the configuration information and the N reference signals to a terminal device. The network device receives channel state indication information sent by the terminal device, where the indication information is obtained by the terminal device by measuring the N reference signals based on the configuration information.

Abstract: In accordance with an embodiment, a method includes obtaining Mv frequency domain components, where the Mv frequency domain components are a subset of N candidate frequency domain components, and Mv is a positive integer; and sending first indication information, where the first indication information indicates the Mv frequency domain components, the first indication information occupies ? log 2 ? ( N - 1 M v - 1 ) ? bits, and N is a positive integer greater than Mv.

Abstract: This application provides a communication method and an apparatus. A terminal device receives a first indication information from a network device, where the first indication information indicates a first parameter combination including at least two of the following: a first value of Mv, a first value of ?, and a first value of ?. The first parameter combination is for determining that a first coefficient matrix to be indicated by the terminal device includes a maximum of K0 non-zero elements, and K0 is determined based on the first values of Mv, ?, and ?. The terminal device sends a second information indication to the network device, where the second indication information indicates K2 non-zero elements in the first coefficient matrix, and K2 is less than or equal to K0.

Abstract: Embodiments of this application disclose an information feedback method and a related apparatus. A terminal device sends first information to a network apparatus, where the first information includes a total quantity of nonzero coefficients at all spatial layers of the terminal device, and the nonzero coefficients are used to constitute a weighting coefficient matrix in a codebook. The first information further includes first indication information, and the first indication information indicates whether second information sent by the terminal device to the network apparatus carries indication information of a location of a nonzero coefficient. In this way, a coding bit rate of the indication information sent by the terminal device to the network apparatus is reduced while correct data transmission is ensured.

Abstract: Embodiments of this application provides a channel information feedback method and a communication apparatus. In the method, first information and a strongest coefficient indicator (SCI) have a same priority in uplink control information (UCI) sent by a terminal device. The first information indicates a second frequency domain discrete Fourier transform (DFT) vector set selected by the terminal device, and the SCI indicates a space-frequency vector corresponding to a strongest coefficient in a first space-frequency vector set corresponding to the second frequency domain DFT vector set and channel state information reference signal (CSI-RS) ports selected by the terminal device. In other words, the SCI indicates the space-frequency vector that corresponds to the second frequency domain DFT vector set selected by the terminal device and that corresponds to the strongest coefficient.

Abstract: A channel state information (CSI) feedback method and apparatus. A terminal device receives a channel state information reference signal (CSI-RS) from a network device, and performs channel sounding based on the CSI-RS. The terminal device feeds back CSI to the network device based on a first codebook, wherein the first codebook is determined based on one or more transmit-end space-domain and frequency-domain column vectors and one or more receive-end space-domain and time-domain column vectors that represent a channel Alternatively, the first codebook is determined based on the one or more transmit-end space-domain and frequency-domain column vectors and one or more time-domain column vectors that represent the channel.

Abstract: This application relates to the field of communication technologies, and provides an information transmission method and an apparatus. In this method, a radio access network device sends, to a terminal device, first indication information indicating first information and second information and second indication information indicating a first quantity of DFT vectors, the first information indicates a first quantity of to-be-selected ports, and the second information indicates a first compression factor. The radio access network device further sends a reference signal to the terminal device. The terminal device sends downlink channel state information to the radio access network device based on the first indication information, the second indication information, and the reference signal. The compression factor is a compression factor of a complex coefficient matrix. There is a correspondence between the compression factor and a quantity of transport layers.

Abstract: A balance for air resistance testing is provided. The air resistance testing comprises 2N dual-hole beam sensors and an upper plate; wherein, the 2N dual-hole beam sensors are arranged beneath the upper plate and fixed to the upper plate; each dual-hole beam sensor comprises a beam, an upper hole and a lower hole, the upper hole and the lower hole are arranged along the longitudinal direction of the beam, the upper hole is arranged at the upper part of the beam, and the lower hole is arranged at the lower part of the beam.

Abstract: This disclosure provides a balance for air resistance testing, compromising 2N dual-hole beam sensors and an upper plate; wherein, the 2N dual-hole beam sensors are arranged beneath the upper plate and fixed to the upper plate; each said dual-hole beam sensor comprises a beam, an upper hole and a lower hole, the upper hole and the lower hole are arranged along the longitudinal direction of the beam, the upper hole is arranged at the upper part of the beam, and the lower hole is arranged at the lower part of the beam.