Abstract: In a state estimation method for a legged robot, first sensor information and second sensor information of the legged robot are received. First state information of the legged robot for a period of time is determined, via a first Kalman filter, based on the first sensor information and the second sensor information. Third sensor information of the legged robot is received. Second state information of the legged robot is determined, via a second Kalman filter, based on the third sensor information and the first state information for the period of time. First state information of the legged robot at a current time is updated based on the second state information of the legged robot, to determine state information of the legged robot at the current time.

Abstract: A digital pre-distortion (DPD) circuit includes a DPD and a power amplifier (PA). The DPD module is configured to: obtain features of a first input signal, determine a first coefficient and a second coefficient based on the features of the first input signal, generate a second signal based on the first input signal and the first coefficient, generate a first output signal based on the second signal and the second coefficient, and input the first output signal to the power amplifier. The PA is configured to amplify the first output signal to generate a second output signal.

Abstract: Methods, apparatuses, electronic devices, and readable storage mediums are provided. An example electronic device includes a first radio frequency link and a second radio frequency link. The first radio frequency link includes a component configured to detect an antenna parameter. The second radio frequency link includes a tunable component. An example method includes obtaining first antenna parameter information of the first radio frequency link by using the component that is comprised in the first radio frequency link and that is configured to detect an antenna parameter. The example method further includes tuning, based on the first antenna parameter information by using the tunable component in the second radio frequency link, an antenna corresponding to the second radio frequency link.

Abstract: In a state estimation method for a legged robot, first sensor information and second sensor information of the legged robot are received. First state information of the legged robot for a period of time is determined, via a first Kalman filter, based on the first sensor information and the second sensor information. Third sensor information of the legged robot is received. Second state information of the legged robot is determined, via a second Kalman filter, based on the third sensor information and the first state information for the period of time. First state information of the legged robot at a current time is updated based on the second state information of the legged robot, to determine state information of the legged robot at the current time.