Abstract: The present disclosure relates to robot technology, which provides a gait control method, device, and terminal device for a biped robot. The method includes: planning an initial position of an ankle joint of the biped robot and a rotation angle of a sole of the biped robot to rotate around one of a toe and a heel of the biped robot; planning a body pose of the biped robot; calculating a target position of the ankle joint based on the initial position of the ankle joint and the rotation angle of the sole; obtaining a joint angle of each of a plurality of joints of the biped robot by performing an operation on the body pose and the target position of the ankle joint utilizing an inverse kinematics algorithm; and adjusting a gait of the biped robot based on the joint angle of each of the joints.

Abstract: A method for controlling an arm of a robot to imitate a human arm, includes: acquiring first pose information of key points of a human arm to be imitated; converting the first pose information into second pose information of key points of an arm of a robot; determining an angle value of each joint of the arm according to inverse kinematics of the arm based on the second pose information; and controlling the arm to move according to the angle values.

Abstract: The present disclosure provides a zero moment point jitter processing method as well as an apparatus and a robot using the same. The method includes: obtaining left foot force information and right foot force information collected by sensors; calculating a first zero moment point and a second zero moment point of soles of two feet of a robot based on the left foot force information and the right foot force information; calculating a third zero moment point of the robot according to the first zero moment point and the second zero moment point; calculating a jitter amplitude of the third zero moment point within a preset period; and adjusting a position of the third zero moment point in response to the jitter amplitude being not larger than a predetermined jitter amplitude threshold. In this manner, the robot can eliminate zero moment point jitters within a certain amplitude.

Abstract: Methods, computer program products, and systems are presented. The method computer program products, and systems can include, for instance: obtaining radio signal encoded data from one or more radio signal emitting device disposed on one or more fabric item used for thermal insulation by a user; performing data processing using an obtained environmental temperature of the user and one or more thermal characteristic, wherein the one or more thermal characteristic is determined using the radio signal encoded data; and providing one or more output based on the data processing.

Abstract: There are a biped robot gait control method and a biped robot, where the method includes: obtaining six-dimensional force information, and determining a motion state of two legs of the biped robot; calculating a ZMP position of each of two legs of the biped robot; determining a ZMP expected value of each of the two legs in real time; obtaining a compensation angle of an ankle joint of each of the two legs of the biped robot by inputting the ZMP position, a change rate of the ZMP position, the ZMP expected value, and a change rate of the ZMP expected value to an ankle joint smoothing controller so as to perform a close-loop ZMP tracking control on each of the two legs; adjusting a current angle of the ankle joint of each of the two legs of the biped robot in real time; and repeating the forgoing steps.

Abstract: The present disclosure provides an output shaft component and a power output mechanism. The output shaft component includes a housing connected to the driven member, an adapter shaft connected to an output shaft of the power output mechanism, and an elastic body mounted in the housing. The adapter shaft is rotatably mounted in the housing. The elastic body includes an inner ring, an outer ring located outside the inner ring, and an elastic portion connected between the inner ring and the outer ring. The adapter shaft is sheathed in the inner ring, the inner ring is synchronously rotatably connected to the adapter shaft, and the outer ring is fixed on the housing.

Abstract: The present disclosure relates to robot technology, which provides a gait control method, device, and terminal device for a biped robot. The method includes: planning art initial position of an ankle joint of the biped robot and a rotation angle a sole of the biped robot to rotate around one of a toe and a heel of the biped robot; planning a body pose of the biped robot; calculating a target position of the ankle joint based on the initial position of the ankle joint and the rotation angle of the sole; obtaining a joint angle, of each of a plurality of joints of the biped robot by performing an operation on the body pose and the target position of the ankle joint utilizing an inverse kinematics algorithm; and adjusting a gait of the biped robot based on the joint angle of each of the joints.

Abstract: The present disclosure provides an equivalent trajectory generating method for a biped robot and a biped robot using the same. The method includes: obtaining a motion state of the biped robot by a position sensor; determining switching moments in an advancing direction of the biped robot, based on the motion state of the biped robot; finding the mass center position of the biped robot at each switching moment; connecting the mass center positions at the switching moments as an equivalent trajectory of the biped robot; and performing a closed loop control on the biped robot according to the equivalent trajectory. Through the method, the overall real-time position of the robot can be obtained according to the equivalent trajectory effectively, which is advantageous to perform a stable and reliable control to the biped robot according to the equivalent trajectory of the biped robot.

Abstract: Methods, computer program products, and systems are presented. The method computer program products, and systems can include, for instance: obtaining radio signal encoded data from one or more radio signal emitting device disposed on one or more fabric item used for thermal insulation by a user; performing data processing using an obtained environmental temperature of the user and one or more thermal characteristic, wherein the one or more thermal characteristic is determined using the radio signal encoded data; and providing one or more output based on the data processing.

Abstract: A system and a method for parallel power supply control for auxiliary converters of a motor train unit in the presence of interconnecting lines. The system comprises multiple three-phase inverter modules. The multiple three-phase inverter modules are in parallel connection with each other. Any two-phase circuit of a three-phase inverter module is separately in parallel connection with a corresponding two-phase circuit of a three-phase inverter module adjacent to the three-phase inverter module by using a connecting line module. The connecting line module is connected to a control system. The three-phase inverter modules are also connected to the control system. The three-phase lines of the three-phase inverter modules are all provided with switches.

Abstract: A computer-implemented method of relating transport incident reports for transport incidents resulting from the same transport accident. A transport incident report including transport incident data for a transport incident is received, where the transport incident data includes at least geographical and temporal data for the transport incident. Transport accident data associated with a set of stored transport incident reports is retrieved, which also includes at least geographical and temporal data. The transport incident data and transport accident data is used to determine that the received transport incident report relates to the same transport accident as the set of stored transport incident reports. The received transport incident report is then added to the set of stored transport incident reports.

Abstract: A system and a method for parallel power supply control for auxiliary converters of a motor train unit in the presence of interconnecting lines. The system comprises multiple three-phase inverter modules. The multiple three-phase inverter modules are in parallel connection with each other. Any two-phase circuit of a three-phase inverter module is separately in parallel connection with a corresponding two-phase circuit of a three-phase inverter module adjacent to the three-phase inverter module by using a connecting line module. The connecting line module is connected to a control system. The three-phase inverter modules are also connected to the control system. The three-phase lines of the three-phase inverter modules are all provided with switches.