Abstract: A system and method for storing sensed values in an optical receiver corresponding to time-of-flight windows for receiving optical signals elicited by emitted optical pulses includes at least one photodetector, a storage array, and a control circuit. The at least one photodetector is configured to generate output signals indicative of received optical signals. The storage array includes a plurality of storage elements and is connected to receive and store the output signals from the at least one photodetector corresponding to at least a portion of a time-of-flight receive window.

Abstract: The present invention discloses a method of tracking control for a foot force and moment of a biped robot. According to the method, a double-spring damping model is designed, and a force tracking controller is designed by using an LQR optimization method, so as to realize tracking of the foot force and moment of the biped robot. Further, a desired force on a foot and a desired moment on the foot are calculated through a planned ZMP distribution method, thereby eventually achieving better ZMP tracking of the biped robot and adapting to ground of certain unevenness.

Abstract: The present invention provides a method for monitoring a balanced state of a humanoid robot, comprising: acquiring state data of the robot falling in different directions and being stable, forming a support vector machine (SVM) training data set and obtaining, by training, an initial SVM classifier; inputting the state data of the robot to the trained SVM classifier, so that the SVM classifier outputs a classification result; taking statistics on a proportion of cycles judged to have an impending fall in the total number of control cycles within a judgment buffer time after the SVM classifier outputs the classification result, and finally determining a monitoring result of the balanced state of the robot according to the proportion and finally extracting state data of misjudged cycles within the buffer time, adding the state data to the current training data set and updating the SVM classifier, eventually enabling the classifier to achieve the effects of matching motion capabilities of the robot and monitorin

Abstract: The present invention provides a method for monitoring a balanced state of a humanoid robot, comprising: acquiring state data of the robot falling in different directions and being stable, forming a support vector machine (SVM) training data set and obtaining, by training, an initial SVM classifier; inputting the state data of the robot to the trained SVM classifier, so that the SVM classifier outputs a classification result; taking statistics on a proportion of cycles judged to have an impending fall in the total number of control cycles within a judgment buffer time after the SVM classifier outputs the classification result, and finally determining a monitoring result of the balanced state of the robot according to the proportion and finally extracting state data of misjudged cycles within the buffer time, adding the state data to the current training data set and updating the SVM classifier, eventually enabling the classifier to achieve the effects of matching motion capabilities of the robot and monitorin

Abstract: Systems and methods for determining an angle of the light transmitted by an illumination source of a scanning LIDAR system are disclosed. An example LIDAR system includes a pattern, provided in an optical path of the light transmitted by the illumination source as the light is transmitted out of the system, and configured to reflect at least a portion of the transmitted light to be incident on at least one of one or more optical sensors of the LIDAR system. The LIDAR system further includes, or is associated with, a controller, configured to determine an angle of the transmitted light based on a light detected by at least one of the optical sensors, where at least a portion of the light detected by the optical sensor(s) includes at least a portion of the light transmitted by the illumination source and reflected by the pattern.

Abstract: A system and method for storing sensed values in an optical receiver corresponding to time-of-flight windows for receiving optical signals elicited by emitted optical pulses includes at least one photodetector, a storage array, and a control circuit. The at least one photodetector is configured to generate output signals indicative of received optical signals. The storage array includes a plurality of storage elements and is connected to receive and store the output signals from the at least one photodetector corresponding to at least a portion of a time-of-flight receive window.

Abstract: A lidar system can be used to measure a distance to one or more objects in a target region, such as by transmitting light towards the target and then receiving light reflected or scattered from the target. Received light can be stored as charge on storage elements such as capacitors, where received light can be stored on different storage elements depending on a time of arrival of the received light. A reduction in the number of storage elements can be achieved by providing one or more groups of storage elements, where each group of storage elements can correspond to a digit of a time of flight, where the time of flight can be round trip travel time of a light beam travelling from the lidar system to the target region and then back to the lidar system. Each group of storage elements can be arranged in a binary tree of a decimal tree configuration.

Abstract: The present invention discloses a method of tracking control for a foot force and moment of a biped robot. According to the method, a double-spring damping model is designed, and a force tracking controller is designed by using an LQR optimization method, so as to realize tracking of the foot force and moment of the biped robot. Further, a desired force on a foot and a desired moment on the foot are calculated through a planned ZMP distribution method, thereby eventually achieving better ZMP tracking of the biped robot and adapting to ground of certain unevenness.

Abstract: There is provided an active-pixel image sensor that uses a method of offsetting and interleaving to increase its resolution. In a basic configuration of the active-pixel image sensor, light from one optical transmitter is diffracted to create one diffraction pattern, and then light from another optical transmitter is diffracted to create another diffraction pattern. Light from further optical transmitters may also be diffracted to create further diffraction patterns sequentially after that. These diffraction patterns are offset from one another and then interleaved using time division multiplexing so as to create a single pixel output that has higher resolution than is feasible with an active-pixel image sensor that only utilizes one optical transmitter per pixel or that does not use diffraction patterns to create a larger field of view.

Abstract: There is provided an active-pixel image sensor that uses a method of offsetting and interleaving to increase its resolution. In a basic configuration of the active-pixel image sensor, light from one optical transmitter is diffracted to create one diffraction pattern, and then light from another optical transmitter is diffracted to create another diffraction pattern. Light from further optical transmitters may also be diffracted to create further diffraction patterns sequentially after that. These diffraction patterns are offset from one another and then interleaved using time division multiplexing so as to create a single pixel output that has higher resolution than is feasible with an active-pixel image sensor that only utilizes one optical transmitter per pixel or that does not use diffraction patterns to create a larger field of view.

Abstract: Embodiments of the present disclosure propose analog-to-digital conversion (ADC) systems particularly suitable for Light Detection and Ranging (LIDAR) implementations. An exemplary proposed ADC system is configured to determine whether an absolute value of an analog value is greater than a threshold, and, upon positive determination, assign a predetermined digital value as a digital value corresponding to the analog value, without proceeding with the analog-to-digital conversion of the analog value. Because the ADC system only proceeds with the analog-to-digital conversion, using an ADC, when the input analog value is smaller than the threshold, and otherwise the input analog value is simply assigned some predefined digital value, design complexity and power consumption of the system may be significantly reduced, compared to conventional ADCs used in LIDAR applications.

Abstract: A lidar system can be used to measure a distance to one or more objects in a target region, such as by transmitting light towards the target and then receiving light reflected or scattered from the target. Received light can be stored as charge on storage elements such as capacitors, where received light can be stored on different storage elements depending on a time of arrival of the received light. A reduction in the number of storage elements can be achieved by providing one or more groups of storage elements, where each group of storage elements can correspond to a digit of a time of flight, where the time of flight can be round trip travel time of a light beam travelling from the lidar system to the target region and then back to the lidar system. Each group of storage elements can be arranged in a binary tree of a decimal tree configuration.

Abstract: Embodiments of the present disclosure propose analog-to-digital conversion (ADC) systems particularly suitable for Light Detection and Ranging (LIDAR) implementations. An exemplary proposed ADC system is configured to determine whether an absolute value of an analog value is greater than a threshold, and, upon positive determination, assign a predetermined digital value as a digital value corresponding to the analog value, without proceeding with the analog-to-digital conversion of the analog value. Because the ADC system only proceeds with the analog-to-digital conversion, using an ADC, when the input analog value is smaller than the threshold, and otherwise the input analog value is simply assigned some predefined digital value, design complexity and power consumption of the system may be significantly reduced, compared to conventional ADCs used in LIDAR applications.