Abstract: Embodiments of the present disclosure relate to a method, a device and a computer readable media for use with robot. The robot has at least one arm. The method includes receiving a force applied onto a force sensor attached at an end of the arm; determining a first vector from the force sensor; determining a second vector based on a torque of a joint of the robot, the joint being coupled to the arm; and determining a transformation relation between the first vector and the second vector.

Abstract: The present disclosure provides a negative electrode material, a preparation method thereof, and an all-solid-state lithium battery. The negative electrode material includes a core and an amorphous lithium-silicon alloy layer cladding the core. The core includes a glassy solid electrolyte and amorphous lithium-silicon alloy particles dispersed in the glassy solid electrolyte. The material of the amorphous lithium-silicon alloy particles is LixSi, 0<x?4.4. The material of the amorphous lithium-silicon alloy layer is LiySi, 0<y?4.4.