9results about How to "Natural movement" patented technology

The invention belongs to the technical field of robot equipment, and particularly relates to a humanoid robot and a sole structure of the humanoid robot. The sole structure comprises a rigid connecting piece which comprises a main body plate piece and a connecting part, the connecting part is arranged on the main body plate piece, and the connecting part is used for being connected with the ankle connecting end of the humanoid robot; the first layer plate is fixedly connected with the main body plate, the end part of the first layer plate exceeds the end part of the rigid connecting piece in the first direction, and the part, exceeding the end part of the rigid connecting piece, of the first layer plate can be bent and deformed in the rotating direction; the second layer plate is connected to the side, away from the rigid connecting piece, of the first layer plate, the second layer plate is a part made of a flexible material, the contour shape of the projection of the second layer plate is consistent with the contour shape of the projection of the first layer plate in the second direction, and the projection of the first layer plate is located in the projection of the second layer plate. By applying the technical scheme, the problem that the sole structure of the current humanoid robot does not have the characteristic that the front sole can be bent and deformed is solved.

The invention discloses a profiling electric toy which comprises a movable part and a power device, and the power device is connected with the movable part through a transmission mechanism. The transmission mechanism comprises a first bevel gear and a second bevel gear, and power transmission at different angles can be achieved by means of the characteristics of the bevel gears. The first bevel gear is in transmission connection with the power device, and the power device drives the first bevel gear to rotate; the second bevel gear is connected with the movable part, and the second bevel gear is used for driving the movable part to move; and the second bevel gear and the first bevel gear are opposite to each other, form a certain included angle and are only partially meshed and connected. And power transmission at different angles is achieved. Due to the fact that the partial meshing transmission mode of the bevel gears is adopted, the limb parts can move in the mode of inclining to the body part, various action postures such as sitting, climbing, jumping, standing and handstand can be achieved, and natural behaviors of animals are simulated more vividly.

The present invention discloses a voice-driven 3D digital human motion generation method, system, device and medium, the method includes: obtaining a target input signal, the target input signal is audio, or audio and motion sequence; inputting the target input signal into a motion generation model, generating a 3D digital human motion sequence corresponding to the target input signal; the motion generation model includes an audio encoder, a motion style encoder and a motion generator, the audio encoder and the motion style encoder are processed in parallel, and a first feature vector sequence corresponding to the audio and a second feature vector corresponding to the motion sequence are generated respectively, when no motion sequence is input, the second feature vector is a zero feature vector, and the motion generator generates a 3D digital human motion sequence based on the first feature vector sequence and the second feature vector. The present invention has the characteristics of real-time performance, reduced labor costs, and free control of the generated motion sequence style.

The embodiment of the invention provides a virtual object display method and device, equipment, a readable storage medium and a product. The method comprises the steps that a special effect processing request triggered by a user is acquired; displaying at least one target image frame and a virtual object associated with the target special effect in a media content generation page; determining a first motion parameter of the virtual object in a first direction based on the at least one target image frame, and determining a second motion parameter of the virtual object in a second direction based on preset content associated with the virtual object; and driving the virtual object to move according to the first motion parameter and the second motion parameter through a preset dynamic component on a skeleton node corresponding to the virtual object. Therefore, the motion of the virtual object can be more fit with the at least one target image frame. Besides, the motion of the virtual object is controlled by combining the dynamic component and the skeletal animation information, so that the motion of the virtual object is more natural and more fits a real motion scene.

The application relates to the technical field of printed circuit board hot-press forming equipment, and particularly discloses a layered positioning and pressing device for high-density interconnection printed circuit boards, which comprises a rack, a pressing rack, a pressing mechanism, positioning pins, a floating assembly, a pneumatic mechanism and a guiding mechanism. The pneumatic mechanism comprises air holes, a plugging plug and an air pipe. The plugging plug closes the air holes during pressing, forms a negative pressure space after cooling and pressurized gas is output during resetting. The application can adsorb the circuit board for a short time at the beginning of mold opening, avoids the circuit board from being taken up with the pressing mechanism, and separates the circuit board through positive pressure flexible assistance. Meanwhile, the positioning pins can be lowered to avoid interference and damage during plate taking, and the pressing stability is improved.

The utility model belongs to the technical field of handheld security check, and particularly relates to a handheld security check instrument capable of being vertically held. The handheld security inspection instrument capable of being vertically held at least comprises an equipment body, and the equipment body is provided with a grip. A grab handle is fixedly arranged at the tail end of the grip, and an angle is formed between the grab handle and the axial direction of the equipment body; or a grab handle is rotationally arranged at the tail end of the grip, and the grab handle can rotate to form an angle with the axial direction of the equipment body. According to the utility model, the grab handle and the axial direction of the equipment body form an angle, so that the grab handle can be held by a user. And after natural holding, the axial direction of the equipment body is close to the arm straightening direction, so that vertical holding is formed.

This invention discloses a training method and system for quadruped robots based on deep reinforcement learning. The AMP training framework significantly enhances the robot's adaptability to complex environments. By distinguishing the robot's current motion sample distribution from that of a reference sample, the training aims to maximize the probability of misjudgment and the reward for reinforcement learning, enabling the robot to learn motion patterns that meet actual needs. When the environment changes, the robot can adjust its strategy promptly based on new information without remodeling, solving the problem of traditional methods being sensitive to environmental changes. Furthermore, this framework introduces imitation learning into reinforcement learning, providing effective guidance for robot learning, reducing the blindness of random exploration, accelerating the learning speed of effective strategies, and improving training efficiency. Simultaneously, the integrated hierarchical LSTM Actor network can extract and aggregate motion features at multiple time scales, allowing the robot to generate actions that consider both short-term gait and long-term trends, resulting in more natural and fluid movements. It also fully utilizes existing sample information, improving sample utilization and reducing training costs.

The invention discloses a skeletal animation interactive display method, and relates to the technical field of skeletal display, the method is applied to an interactive display terminal, and the method comprises the following steps: the interactive display terminal generates a standardized hierarchical joint tree based on a multi-view image or a draft, distributes a skin weight by adopting a conflict area dynamic isolation and weight self-optimization algorithm, and displays a skeletal animation. Constructing a joint motion parameterized linkage rule base, and forming an adjustable skeleton skin basic structure; the interactive display terminal integrates physical motion capture data, text instruction analysis data and user operation data, synchronously drives a joint tree through a multi-source data space-time collaborative fusion engine, drives the joint tree through combination of multi-source data space-time collaborative fusion and scene adaptive weight distribution, breaks through the limitation of traditional single data driving, and improves the user experience. Space-time synchronization of three types of data of physical motion capture, text instruction analysis and user operation is achieved, then the weight is dynamically adjusted according to the scene, the scene is rapidly moved to preferentially guarantee coherence, and the scene is finely adjusted to focus on accuracy.

The present invention discloses a wearable muscle strength assisting device, which includes: a fixing body, which is combined and fixed to the upper body of the wearer; a shoulder blade frame, one side of which is combined to the fixing body on the back of the wearer, and the other side of which can rotate in the up and down directions with one side as the rotation center in a state of contact with the back of the wearer; a fixing frame, one side of which is twistably combined to the other side of the shoulder blade frame; a supporting member, which supports the upper arm of the wearer in a shape of covering a part of the upper arm of the wearer; and a compensation frame, which is integrally combined with the supporting member and can be rotatably combined with the supporting member to the fixing frame with the shoulder axis of the wearer as a reference, thereby generating a supporting force that changes according to the angle of rotation with the fixing frame as a reference.