5results about How to "Sport control" patented technology

The invention relates to a robot motion control method and device, a robot, a computer readable storage medium and a computer program product. The method comprises the following steps: in response to a motion command, acquiring expected motion information of the robot; acquiring real-time state information of the robot; according to the expected motion information and the real-time state information, control information of the foot ends and control information of whole-body dynamics are determined; and controlling the robot to move according to the control information of the foot ends and the control information of the whole-body dynamics. By adopting the method, the motion control can be more accurately carried out.

The present invention relates to the technical field of cryogenic instruments, and in particular to a fully automatic cryogenic instrument with a fixing device, comprising a shell, a sample grid, a lifting mechanism and a fixing mechanism; a cryogenic box is fixedly connected to the inner side wall at the top end of the shell; a sealing mechanism is arranged inside the cryogenic box; the sample grid is fixedly connected to the top end of the lifting mechanism; the fixing mechanism is installed inside the sample grid; the lifting mechanism is installed inside the shell, and comprises an electric push rod, a straight rod and a hinged rod; the electric push rod is fixedly connected to the inner side wall at the bottom end of the shell; the straight rod is fixedly connected to the outer side wall of the electric push rod; one end of the hinged rod is hinged to the straight rod, and the other end is hinged to the sealing mechanism; the fixing mechanism and the lifting mechanism are used to keep the samples in the sample grid in order, and reduce the danger of the samples falling into anhydrous ethanol.

The present invention discloses an underwater leveler, comprising a bracket, wherein a supporting mechanism is arranged on the outside of the bracket, wherein the supporting mechanism comprises a lifting rod, an output end of the lifting rod is fixedly connected with a connecting piece, an outer surface of the connecting piece is fixedly connected with the outer surface of the bracket, an anti-sinking plate is arranged on the outside of the lifting rod, a sliding sleeve is arranged on the outside of the anti-sinking plate, a piston plate is slidingly connected inside the sliding sleeve, a sliding rod is fixedly connected to the outer surface of the piston plate, one end of the sliding rod is slidingly connected with the main body of the sliding sleeve and extends to the outside of the sliding sleeve. The present invention relates to the technical field of underwater leveling, and solves the problem that when an existing underwater leveler is used, the leveling cylinder is easily subjected to excessive force, resulting in a reduction in service life and affecting the balancing effect, and the anti-sinking plate cannot rotate due to being fixed and lifted vertically, resulting in the inability to fit the underwater mud bed, thereby affecting the balancing effect of the installation platform.

The utility model discloses a kind of bionic manipulator, it is related to manipulator technical field, bionic manipulator includes palm, finger and first driving device, second driving device and third driving device, finger is articulated by end knuckle, middle knuckle, tip knuckle in turn, end knuckle is movably connected with palm.The first driving device drives end knuckle flexion and extension relative to palm;Second driving device drives middle knuckle flexion and extension relative to end knuckle, and drives tip knuckle movement in parallel;Third driving device drives end knuckle (together with entire finger) relative to palm lateral swing.Three active degrees of freedom (flexion and extension, flexion and extension, side swing) transmission path is independent, realizes complete mechanical decoupling.

The utility model discloses a novel embedded LSR laser speckle removing module, which comprises a main body base, a first elastic sheet, a second elastic sheet, a magnet group and a coil group, a base through hole is arranged in the middle of the main body base, the first elastic sheet is provided with two first elastic arms, the second elastic sheet is provided with two second elastic arms, and the coil group is arranged in the base through hole. The extending direction of the first elastic arm is perpendicular to the extending direction of the second elastic arm. The magnet group comprises two first driving magnets and two second driving magnets, and the coil group comprises two first driving coils and two second driving coils; the first elastic sheet is positioned on the upper end side of the main body base; the tail end parts of the first elastic arms are respectively screwed on the upper surface of the main body base; the second elastic piece is located on the lower end side of the main body base. The tail end of each second elastic arm is screwed to the lower surface of the main body base. The first elastic sheet is provided with a first optical diffusion sheet, and the second elastic sheet is provided with a second optical diffusion sheet. By means of the structural design, the device has the advantages of being novel in structural design and accurate in motion control.