A method for modeling and simulation of a robotic body area channel

Abstract

The application provides a method for modeling and simulating a robot body channel, which can simulate a robot to be developed in a virtual scene by using a robot model; collects an antenna model corresponding to an antenna of a type to be used in an antenna library to simulate radiation characteristics of the antenna of the type; then installs the selected antenna module on a related component of the robot model in a required position and direction based on an interactive interface; finally, controls robot movement to adjust a pose to drive component position and direction adjustment, thereby simulating a wireless channel between antenna modules to be communicated based on the adjusted pose and the radiation characteristics of the antenna module, and evaluating a state of the wireless channel in the robot model body in the pose; thus, the developer can obtain the state of the wireless channel in the robot model body in various required poses, so as to efficiently find problems, improve the efficiency of developing the robot and reduce the cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of communication technology, in particular to the field of wireless communication technology simulation, and more particularly to a method for modeling and simulating a robot body channel. BACKGROUND

[0002] With the rapid progress of bionic robot technology, humanoid robots have become a hot topic in the relevant research field because of their ability to adapt to human living environments and work scenarios, and their ability to replace humans in work services [1] . Humanoid robots play an increasingly important role in many fields due to their high flexibility and similar interaction capabilities to humans. Literature [2] points out that humanoid robots effectively complement the capabilities of human operators by improving production efficiency and quality, and through machine learning technology, they achieve autonomous learning and decision support. Humanoid robots not only improve work efficiency and safety, but also bring new ways of communication and innovation opportunities to society, showing great market potential.

[0003] Motion control of a robot is one of its most basic functions, which determines the work capacity and flexibility of the robot. In order to ensure that the robot has sufficient power and flexibility, many sensors and motion control units are usually installed inside the robot's body (also known as the robot's body or the robot's body domain). These devices mainly communicate through dedicated cables. However, the space inside the robot's body is very limited, and the presence of a large number of cables increases the maintenance cost and weight of the robot, while also limiting its joint range of motion and flexibility. Therefore, research and educational institutions around the world are exploring wireless communication technology in the robot's body domain to meet the information exchange and seamless connection needs of the robot when moving freely, while reducing costs.

[0004] However, due to the complexity and diversity of the environment inside the robot's body domain, signal transmission is affected by various factors, including multipath propagation, random attenuation, shadow attenuation, Doppler effect, and noise. Currently, designers often need to continuously adjust the positions and models of multiple wireless antennas on the robot's body based on experience in the field to optimize to a relatively good communication state. This way of adjusting the antenna settings based on experience and in the field can seriously affect the development progress of humanoid robots or other types of robots, and also lead to high development costs.

[0005] The information of the above literature is as follows:

[0006] [1] Liu Hongji. Research on Gait Planning and Motion Control of Humanoid Robot Based on Optimization Method [D]. Shandong University, 2023. DOI: 10.27272 / d.cnki.gshdu.2023.002989.

[0007] [2]Mukherjee D, Gupta K, Chang L H, et al. A survey of robot learning strategies for human-robot collaboration in industrial settings[J]. Robotics and Computer-Integrated Manufacturing, 2022, 73: 102231.

[0008] It should be noted that the background art is only intended to introduce relevant information to help understand the technical solutions of the present application, and does not mean that the relevant information must be prior art. The relevant information is submitted and disclosed together with the present application scheme, and in the absence of evidence that the relevant information has been disclosed before the filing date of the present application, the relevant information should not be considered as prior art. SUMMARY

[0009] Therefore, the purpose of the present application is to overcome the defects of the prior art, and to provide a method for modeling and simulating a robot body channel.

[0010] The purpose of the present application is achieved by the following technical solutions:

[0011] According to the first aspect of the present application, a method for modeling and simulating a robot body channel is provided, comprising: obtaining a robot model constructed for the simulated robot, which includes a plurality of components and is connected by joints between the associated components; obtaining an antenna library constructed, which includes a plurality of selectable antenna modules, each of which can be used to simulate the radiation characteristics of the antenna of the type it represents; providing an interactive interface that can display the robot model and the antenna module from the user's desired perspective, and a functional module that can receive user operations to install the antenna module selected from the antenna library on the relevant components of the robot model in the desired position and direction; controlling the robot model to adjust the pose and drive the antenna module on the component to adjust the position and direction, simulating the wireless channel between the antenna modules to be communicated based on the adjusted pose and the corresponding radiation characteristics of the antenna module, and evaluating the state of the wireless channel within the body domain of the robot model at the pose.

[0012] Optionally, each antenna module comprises a base for representing the antenna body and a direction indicator for setting the directivity of the antenna, wherein when the antenna module is installed, the interactive interface visually displays the base and the direction indicator of the antenna module, the component and the position to which the antenna module is attached are set by deploying the base, and the direction of the antenna module is set by adjusting the orientation of the direction indicator. This scheme can at least achieve the following beneficial technical effects: the position of the antenna model and the attached component are set by the base, which facilitates the antenna model to be placed at the position simulated by the developer and to move with the component, various simulated poses are obtained to simulate; in addition, the directivity of the antenna model is independently adjusted by the direction indicator, which reduces the inconvenience that may be caused by simultaneously adjusting the position and the directivity of the antenna by using one base, and improves the efficiency of simulation.

[0013] Optionally, each antenna module further comprises a radiation pattern for indicating the radiation characteristics of the antenna of the type represented thereby, wherein each direction indicator of the antenna module is one-to-one associated with a corresponding direction in the radiation pattern. This scheme can at least achieve the following beneficial technical effects: in combination with the radiation pattern, the radiation characteristics of the antenna of the relevant type are better simulated, and the effect of simulation is improved.

[0014] Optionally, the process of evaluating the state of the wireless channel in the body domain of the robot model in the pose comprises: obtaining a plurality of bandwidths and a plurality of signal-to-noise ratios, so as to generate combinations of bandwidth-signal-to-noise ratio to be simulated according to the needs of the user; according to each combination to be simulated, the channel state between the antenna modules that need to communicate is evaluated, which includes the overall total channel capacity and / or the average channel capacity under the combination, and / or the channel capacity of each sub-channel formed between the antenna modules that need to communicate. This scheme can at least achieve the following beneficial technical effects: a plurality of bandwidths and a plurality of signal-to-noise ratios are preset, so as to select the combination of bandwidth-signal-to-noise ratio to be simulated according to the needs of the user, thereby efficiently simulating the channel capacity under these combinations, and facilitating the developer to efficiently select the antenna and / or optimize the position and direction of deployment according to the actual communication demand and the result of simulation.

[0015] Optionally, the process of evaluating the state of the wireless channel within the body of the robot model at the posture includes: controlling the movement of the robot model and sampling multiple postures during the movement; evaluating the state of the wireless channel within the body of the robot model at each posture respectively based on the sampled postures; graphically displaying the changes in the state of the wireless channel within the body during the movement of the robot model based on the temporal sequence of the sampled postures, or graphically displaying the changes in the state of the wireless channel within the body during the movement of the robot model and the changes in the posture of the corresponding robot based on the temporal sequence of the sampled postures. This solution can at least achieve the following beneficial technical effects: since the relative positions between the antenna modules and the directions in which the antenna modules transmit signals dynamically change at different positions of the robot, the method of the present invention analyzes the changes in the state of the wireless channel within the body during the movement of the robot model by sampling multiple postures of continuous movement during the movement of the robot model, and graphically displays the changes in the state of the wireless channel within the body during the movement of the robot model in a temporal sequence, which facilitates developers to discover the correlation between the posture changes caused by the robot's movement state and the changes in the state of the wireless channel, thereby better optimizing the system.

[0016] Optionally, the antenna modules in the antenna library include multiple antenna models based on 6G technology, used to simulate 6G channel states within the robot's body domain; and / or the antenna modules in the antenna library include multiple antenna models for centimeter-wave communication, used to simulate channel states for centimeter-wave communication within the robot's body domain. This solution can achieve at least the following beneficial technical effects: 6G technology has a wider bandwidth and can better support the robot's communication needs. The present method provides multiple antenna models for 6G technology and / or centimeter-wave communication in the antenna library, which can better provide relevant simulation support and improve development efficiency.

[0017] Optionally, multiple antenna modules provided on the robot model are used to simulate the channel state of a SISO, SIMO, MISO or MIMO channel.

[0018] Optionally, the robot model is a model for simulating a humanoid robot, and the multiple components include components corresponding to the humanoid robot's head, neck, shoulders, chest and abdomen, arms, hands, legs, and feet. Alternatively, the robot model is a model for simulating a beast-shaped robot, and the multiple components include components corresponding to the beast-shaped robot's head, neck, torso, legs, and feet. This solution can achieve at least the following beneficial technical effects: by constructing a humanoid robot model or a beast-shaped robot model, it facilitates improving the efficiency of developing robots of the corresponding form.

[0019] According to a second aspect of the present invention, there is provided a computer program product comprising a computer program / instructions, which implement the steps of the method according to the first aspect when executed by a processor.

[0020] According to a third aspect of the present application, there is provided an electronic device comprising: one or more processors; and a memory, wherein the memory is configured to store executable instructions; the one or more processors are configured to implement the steps of the first method via execution of the executable instructions. BRIEF DESCRIPTION OF DRAWINGS

[0021] Embodiments of the present application will be further described with reference to the accompanying drawings, in which:

[0022] Figure 1 Flowchart of the method for modeling and simulation of the human body channel according to an embodiment of the present application;

[0023] Figure 2 Schematic diagram of the robot model according to an embodiment of the present application;

[0024] Figure 3 Schematic diagram of the pattern of the Radial 6.0 Hz antenna according to an embodiment of the present application;

[0025] Figure 4 Schematic diagram of the pattern of the patch Microstrip Enotch 6.0 Hz antenna according to an embodiment of the present application;

[0026] Figure 5 Schematic diagram of the robot model after the antenna module is deployed according to an embodiment of the present application;

[0027] Figure 6 Schematic diagram of the robot model from another perspective after the antenna module is deployed according to an embodiment of the present application;

[0028] Figure 7 Schematic diagram of the calculation of the channel capacity according to an example simulation of the present application;

[0029] Figure 8 Schematic diagram of the sequence of loading the robot model and the antenna according to an example of the present application;

[0030] Figure 9 Schematic diagram of the change of the human body MISO wireless channel capacity of the robot at different bandwidths and SNRs when the Radial 6.0 Hz antenna is used according to an embodiment of the present application;

[0031] Figure 10 Schematic diagram of the change of the human body MISO wireless channel capacity of the robot at different bandwidths and SNRs when the patch Microstrip Enotch 6.0 Hz antenna is used according to an embodiment of the present application;

[0032] Figure 11Fig. 2 is a diagram showing the change of channel capacity of the head, hand and foot of a robot in different postures according to an embodiment of the present application using a Radial 6.0 Hz antenna;

[0033] Figure 12 Fig. 3 is a diagram showing the change of channel capacity of the head, hand and foot of a robot in different postures according to an embodiment of the present application using a patch Microstrip Enotch 6.0 Hz antenna. DETAILED DESCRIPTION

[0034] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0035] As mentioned in the section of BACKGROUND, the existing way of empirically and purely on-site optimizing antenna settings can seriously affect the development progress of humanoid robots or other types of robots and can also result in a high development cost. When using wireless antennas to communicate between relevant components of a robot, the pose of the antenna will change constantly as the robot moves, and thus the channel state of the antenna that has been debugged in a static environment will also change. It is difficult for a developer to grasp the relevant changes, and thus it is relatively difficult to optimize the problem even if the quality of wireless communication is found to have a problem.

[0036] To this end, the method of the present application can simulate a robot to be developed in a virtual scene using a robot model constructed; collect antenna models corresponding to the antenna models of the type to be used in an antenna library to simulate the radiation characteristics of the antenna of the type represented by the antenna models; then, based on an interactive interface, install the selected antenna models on relevant components of the robot model at the required positions and directions under the operation of a user; finally, control the robot to move to adjust the pose to drive the components to adjust the positions and directions, thereby simulating the wireless channel between the antenna models to be communicated based on the adjusted pose and the radiation characteristics of the antenna models and evaluating the state of the wireless channel in the body domain of the robot model in the pose. In this way, the developer can obtain the state of the wireless channel in the body domain of the robot model in various required poses, so that the developer can efficiently find the problem. Moreover, the developer can also adjust the type of the simulated antenna by replacing the antenna models, efficiently adjust the positions and / or directions of the antenna model settings in the interactive interface, and evaluate the state of the wireless channel again under the condition that the type, position and / or direction of the antenna are adjusted, thereby efficiently optimizing the selection, position and orientation of the antenna to be deployed, so as to improve the efficiency of developing the robot and reduce the development cost.

[0037] According to an embodiment of the present application, refer to Figure 1, provide a method for modeling and simulating a robot body channel, comprising: S1, S2, S3 and / or S4. In order to better understand the present application, the following will be described in detail for each step in conjunction with specific embodiments.

[0038] Step S1: obtaining a robot model constructed for the simulated robot, which comprises a plurality of components and the associated components are connected through joints.

[0039] According to an optional embodiment of the present application, different forms and / or structures of robots can be simulated for the needs of different developers (users). Therefore, a compatible interface can be considered to be set up to directly obtain the robot model drawn by the developer himself in a certain software (such as Creo, SolidWorks, etc.), so as to efficiently obtain the robot model designed by the developer in the mechanical structure design stage. Using the compatible interface to obtain the model constructed by the third-party software can reduce the difficulty of implementing the method of the present application.

[0040] According to another optional embodiment of the present application, of course, the drawing function can also be provided so that the developer can directly draw the required model. The method further comprises: providing a three-dimensional model modeling function for drawing the robot model based on the interactive interface.

[0041] According to an embodiment of the present application, for each component of the robot, its mass and / or material can be set, and the gravity of the space where the robot is located can be set to better simulate.

[0042] According to an embodiment of the present application, for the components of the robot, the material can not be set, and its influence on the electromagnetic wave can be simulated to only simulate the influence of the pose on the channel state. However, in order to better simulate the influence of the components of the robot on the electromagnetic wave, further improvement can be made. Optionally, the method further comprises: for the components of the robot, setting the material of the component and / or the reference parameters of the absorption and / or reflection of the electromagnetic wave by the material, to introduce the influence of the reference parameters when evaluating the channel state.

[0043] According to another embodiment of the present application, a robot model library can also be provided, which can be directly called by the developer when the developer's robot is similar to the robot model in the robot model library, so as to further improve the development efficiency. The method further comprises: providing a robot model library, the robot model library comprising a plurality of robot models. Preferably, the robot model library comprises a model for simulating a humanoid robot and / or a model for simulating a beast-shaped robot. The model for simulating a humanoid robot comprises components corresponding to the head, neck, shoulder, chest and abdomen, arm, hand, leg and foot of the humanoid robot. The model for simulating a beast-shaped robot comprises components corresponding to the head, neck, torso, leg and foot of the beast-shaped robot. In addition, according to the shape of the simulated robot, some components can have multiple, such as 2 hands, 4 feet, etc. The associated components are connected through joints to simulate the relative position and connection relationship between the motion components of the robot; for example, the connection of the shoulder of the humanoid robot model and the left hand and the right hand.

[0044] According to an example of the present application, referring to Figure 2 , a schematic humanoid robot comprising a head, a shoulder, a chest and abdomen, a foot and leg, a hand and an arm is provided, and a schematic process for constructing the corresponding robot model comprises:

[0045] Step 101, creating a plane module for simulating the ground supporting the robot standing, defining the contact attribute, and visualizing the plane;

[0046] Step 102, creating a robot model, comprising: according to the structure of the robot, creating components corresponding to the head, shoulder, chest and abdomen, foot and leg, hand and arm, and using joints to actively connect the associated components based on the relative motion relationship, for simulating the humanoid robot in the scene. Each component can be set as a separate collision module, which cannot invade the space range of each other;

[0047] Step 103, defining the inertia tensor for each collision module, to ensure that each part can exhibit reasonable rotation and motion when subjected to external force. The setting of the inertia tensor is based on the shape and mass distribution of each part, to ensure that the rotation behavior in the simulation conforms to the physical law;

[0048] Step 104, setting an angle limit for each joint, to ensure that the motion of the robot model conforms to the normal physiological range of human beings. An initial posture can be set for the robot model, so that it is in a standing state at the beginning of the simulation. For example: schematically, in the initial posture, the hands of the robot model are spread out and the feet are standing side by side.

[0049] Step S2: obtaining the constructed antenna library, which comprises a plurality of antenna modules for selection, each antenna module being capable of simulating the radiation characteristics of the antenna of the model it represents.

[0050] According to one embodiment of the present application, a plurality of antenna models corresponding to antennas of different types are pre-stored in the antenna library for developers to select. For example, patchMicrostripEnotch6.0Hz antenna and / or Radial6.0Hz antenna. Furthermore, the implementer or the provider / manufacturer / user of the antennas can update the antenna library periodically or non-periodically to support simulation of more newly developed types of antennas. In addition, the developers can add antenna models corresponding to desired antennas according to the specifications of the antenna models provided in the antenna library to meet the simulation of some non-standard antennas.

[0051] According to one optional embodiment of the present application, each antenna module includes a base for representing the antenna body. The position and orientation of the antenna module are adjusted simultaneously by setting the base. In this case, the position of the coordinate system of the corresponding directional diagram on the base is marked on the base, and the corresponding directional diagram is displayed when the base is set, so that the orientation of the antenna module is adjusted by adjusting the setting angle of the base.

[0052] According to one optional embodiment of the present application, considering that it is inconvenient to adjust the position and orientation of the antenna module by setting the base, another implementation can be considered. Each antenna module includes a base for representing the antenna body and a direction indicator for setting the orientation of the antenna. Optionally, since the coordinate system of the directional diagram includes three axes: x, y and z axes, three direction markers (such as cylinders or arrows) that are 90° to each other can be used to represent the three axes to form the direction indicator. In addition, because the direction vector of the other axis can be determined by the cross product of the direction vectors of the other two axes, only two direction markers can be used to represent the x axis and the z axis to form the direction indicator, and the orientation of the antenna module is set by setting the direction indicators of the x axis and the z axis.

[0053] According to one embodiment of the present application, each antenna module further includes a directional diagram for indicating the radiation characteristics of the antenna of the type it represents. In this case, each direction indicator of the antenna module is associated with a corresponding direction in the directional diagram. When the directional diagram is displayed, the structure and parameters of the antenna can also be displayed correspondingly. As an example, Figure 3 a schematic directional diagram of a Radial6.0Hz antenna is provided, Figure 4 a schematic directional diagram of a patchMicrostripEnotch6.0Hz antenna is provided, in which the x axis represents the horizontal direction vector, the z axis represents the vertical direction vector, and the y axis is the remaining direction vector.

[0054] According to one embodiment of the present application, the antenna modules in the antenna library include a plurality of antenna models for communication based on centimeter waves, which are used to simulate the channel state for communication based on centimeter waves in the body area of a robot.

[0055] According to an embodiment of the present application, the antenna modules in the antenna library include a plurality of antenna models based on 6G technology for simulating 6G channel states in the robot body domain; and / or a plurality of antenna models based on 5G technology for simulating 5G channel states in the robot body domain.

[0056] Step S3: providing an interactive interface capable of displaying the robot model and the antenna modules from the perspective of the user, and a functional module capable of receiving user operations to install the antenna modules selected from the antenna library on the relevant components of the robot model in the desired positions and directions.

[0057] According to an embodiment of the present application, installation on the relevant components of the robot model can refer to installation inside the components or on the surface of the components, etc.

[0058] According to an optional embodiment of the present application, the user can be provided with a function of parameterizing the positions and / or directions of the antenna modules. For example, referring to Table 1, the user provides position parameters of the antennas of each component, and the positions of the corresponding antenna modules are set based on the position parameters of the antennas of each component.

[0059] Table 1

[0060]

[0061] The direction of the antenna module can also be set in a parameterized manner, or after the positions of the antenna modules are set, the user can set the direction of each antenna module through a direction indicator.

[0062] According to another optional embodiment of the present invention, for ease of operation, another method for setting the antenna's position and orientation is provided. For example, an antenna module is selected from the antenna library. The robot model and the selected antenna module are displayed simultaneously in an interactive interface, visually providing matching options for the antenna module and various components. The matching determines the component to which the antenna module is attached. The antenna module's position is then set by setting its relative position to the attached component, other components, or the global reference coordinate system. After the antenna module's position is set, an initial orientation can be assigned to the antenna module, allowing the user to adjust the orientation as needed. To adjust the antenna module's orientation, the user can rotate a direction indicator based on the coordinate axes set on the robot model or the coordinate axes of the global coordinate system to complete the orientation setting. Since the antenna's directivity pattern includes three directions—x, y, and z—two direction indicators are typically provided: one for the horizontal pointing vector x and the other for the vertical pointing vector z. Setting the antenna module's orientation is accomplished by setting the angle between the two direction indicators. The other pointing vector y does not require a direction indicator, as it can be determined by the cross product of the horizontal pointing vector x and the vertical pointing vector z.

[0063] According to one embodiment of the present invention, the multiple antenna modules provided on the robot model can be used to simulate the channel state of a SISO, SIMO, MISO or MIMO channel. To reduce the influence of simulated interference, it is preferred to simulate a SISO channel or a MISO channel.

[0064] According to an example of the present invention, assuming that Figure 2 The robot model shown is equipped with an antenna module. The antenna module includes a base, an antenna pattern, and direction indicators corresponding to the antenna's vertical pointing vector and the antenna's horizontal pointing vector (in this example, the initial directions of the two indicators are assumed to be the same). The base is a collision module. A schematic process for setting up the antenna module is provided:

[0065] Step 201: Select an antenna module model, select an antenna operating frequency, and generate a radiation pattern for the antenna. An antenna radiation pattern is a graphical representation of the intensity distribution of radio waves radiated or received by an antenna in different spatial directions. It is used to evaluate and optimize antenna performance. By specifying the horizontal and vertical angles of the antenna's transmission and reception, the antenna's gain in that direction can be obtained.

[0066] Step 202: Set the properties of the antenna module. The base of the antenna is set as a collision module, the two direction indicators are set as non-collision modules, and two cylinders are used to represent the direction indicators of the vertical pointing vector and the horizontal pointing vector of the antenna respectively.

[0067] Step 203, set head antenna position: the base is set in the head, the horizontal pointing vector corresponding direction indicator of the antenna is rotated 90° along the y axis (the y axis of the global coordinate system, the same below), and the vertical pointing vector corresponding direction indicator is not deflected;

[0068] Step 204, set neck antenna position: the base is set in the neck, the horizontal pointing vector corresponding direction indicator of the antenna is rotated 90° along the y axis, and the vertical pointing vector corresponding direction indicator is not deflected;

[0069] Step 205, set right shoulder antenna position: the base is set in the right shoulder, the horizontal pointing vector corresponding direction indicator of the antenna is rotated 90° along the y axis, and the vertical pointing vector corresponding direction indicator is not deflected;

[0070] Step 206, set left shoulder antenna position: the base is set in the left shoulder, the horizontal pointing vector corresponding direction indicator of the antenna is rotated 90° along the y axis, and the vertical pointing vector corresponding direction indicator is not deflected;

[0071] Step 207, set left arm antenna position: the base is set in the left arm, the horizontal pointing vector corresponding direction indicator of the antenna is rotated 90° along the y axis, and the vertical pointing vector corresponding direction indicator is not deflected;

[0072] Step 208, set right arm antenna position: the base is set in the right arm, the horizontal pointing vector corresponding direction indicator of the antenna is rotated 90° along the y axis, and the vertical pointing vector corresponding direction indicator is not deflected;

[0073] Step 209, set left hand antenna position: the base is set in the left hand, the vertical pointing vector corresponding direction indicator of the antenna is rotated 90° along the y axis, and the horizontal pointing vector corresponding direction indicator is not deflected;

[0074] Step 210, set right hand antenna position: the base is set in the right hand, the vertical pointing vector corresponding direction indicator of the antenna is rotated 90° along the y axis, and the horizontal pointing vector corresponding direction indicator is not deflected.

[0075] Step 211, set chest antenna position: the base is set in the chest, the horizontal pointing vector corresponding direction indicator of the antenna is rotated 90° along the y axis, and the vertical pointing vector corresponding direction indicator is not deflected;

[0076] Step 212, set abdomen antenna position: the base is set in the abdomen, the horizontal pointing vector corresponding direction indicator of the antenna is rotated 90° along the y axis, and the vertical pointing vector corresponding direction indicator is not deflected;

[0077] Step 213, setting the right thigh antenna position: the base is set on the right thigh, the direction indicator corresponding to the horizontal pointing vector of the antenna is rotated by 90° along the y axis, and the direction indicator corresponding to the vertical pointing vector of the antenna is not deflected.

[0078] Step 214, setting the right calf antenna position: the base is set on the right thigh, the direction indicator corresponding to the horizontal pointing vector of the antenna is rotated by 90° along the y axis, and the direction indicator corresponding to the vertical pointing vector of the antenna is not deflected.

[0079] Step 215, setting the right foot antenna position: the base is set on the right foot, the direction indicator corresponding to the vertical pointing vector of the antenna is rotated by 90° along the y axis, and the direction indicator corresponding to the horizontal pointing vector of the antenna is not deflected.

[0080] Step 216, setting the left thigh antenna position: the base is set on the left thigh, the direction indicator corresponding to the horizontal pointing vector of the antenna is rotated by 90° along the y axis, and the direction indicator corresponding to the vertical pointing vector of the antenna is not deflected.

[0081] Step 217, setting the left calf antenna position: the base is set on the left thigh, the direction indicator corresponding to the horizontal pointing vector of the antenna is rotated by 90° along the y axis, and the direction indicator corresponding to the vertical pointing vector of the antenna is not deflected.

[0082] Step 218, setting the left foot antenna position: the base is set on the left foot, the direction indicator corresponding to the vertical pointing vector of the antenna is rotated by 90° along the y axis, and the direction indicator corresponding to the horizontal pointing vector of the antenna is not deflected.

[0083] Correspondingly, the robot model with the antenna module set is as shown in Figure 5 and Figure 6 .

[0084] Step S4: controlling the robot model to adjust the pose and drive the antenna module on the component to adjust the position and direction, simulating the wireless channel between the antenna modules to be communicated based on the adjusted pose and the corresponding radiation characteristics of the antenna module, and evaluating the state of the wireless channel in the body domain of the robot model under the pose.

[0085] According to one embodiment of the present application, the process of evaluating the state of the wireless channel in the body domain of the robot model under the pose includes: obtaining a plurality of bandwidths and a plurality of signal-to-noise ratios, to generate a combination of bandwidth-signal-to-noise ratio to be simulated according to the user's needs and / or fixed combination; according to each combination to be simulated, evaluating the channel state between the antenna modules to be communicated, which includes the overall total channel capacity and / or average channel capacity under the combination, and / or the channel capacity of each sub-channel formed between the antenna modules to be communicated.

[0086] According to one embodiment of the present application, the process of evaluating the state of the wireless channel in the body area of the robot model in the pose includes: controlling the movement of the robot model, sampling a plurality of poses during the movement; based on each of the sampled poses, evaluating the state of the wireless channel in the body area of the robot model in the pose respectively; based on the time sequence of the sampled poses, graphically displaying the change of the state of the wireless channel in the body area during the movement of the robot model, or based on the time sequence of the sampled poses, graphically and associatively displaying the change of the state of the wireless channel in the body area during the movement of the robot model and the change of the pose of the corresponding robot. Optionally, the control of the movement of the robot model can be realized by using a preset pose control module, which can load a pose control sequence of the robot model, the pose control sequence including a plurality of pose frames, each of which sets the pose information of each joint, so as to control the movement of the robot model. The pose control sequence can include the pose frames of the actions commonly used by the simulated robot during the execution of a task and / or the pose frames of extreme actions (such as the limit of raising hands, the limit of kicking legs, etc.). Thus, the channel state in various poses can be better obtained.

[0087] It should be noted that there are many existing technologies for calculating the channel state, such as the channel capacity, in the art, and the method of the present application can use the existing channel state evaluation algorithm to evaluate the channel state, and the present application does not make any limitation on this.

[0088] According to one example of the present application, assuming that the receiving antenna in the body area wireless communication system corresponding to the simulated robot is a chest antenna, and the antennas located at the rest of the body area of the robot are transmitting antennas, the system is a MISO system, a MISO channel is simulated, and the channel state to be calculated is the channel capacity. The channel capacity can be calculated according to the positions of the antennas on the robot and the directional diagrams of the antennas. An illustrative calculation method of the channel capacity of a MISO channel is given below:

[0089] First, the small-scale fading of the line of sight (LOS) path between different antennas is calculated according to the positions of the antenna modules on the robot model, the directions of the antennas, and the directional diagrams of the antennas, including:

[0090] Step 301, obtaining the three-dimensional coordinates of the transmitting antenna and the receiving antenna on the robot model, and the horizontal pointing vector and the vertical pointing vector of the transmitting antenna and the receiving antenna; wherein the coordinates of the transmitting antenna are represented as p t , the coordinates of the receiving antenna are represented as p r , the horizontal pointing vector of the transmitting antenna is represented as , the horizontal pointing vector of the receiving antenna is represented as , and the vertical pointing vector of the transmitting antenna is represented as The vertical pointing vector of the receiving antenna is represented as

[0091] Step 302, construct the Cartesian coordinate system about the receiving antenna, obtain and Calculate the cross product of and for representing The calculation formula can be represented as

[0092]

[0093] Step 303, based on the 6G universal channel model, calculate the small-scale fading of the Los path between the antennas through the relative position of the transmitting and receiving antennas and the directional diagram of the transmitting and receiving antennas. Calculate the difference between the coordinates of the transmitting antenna and the coordinates of the receiving antenna, and obtain the receiving vector v r The calculation formula can be represented as:

[0094] v r = p t -p r (1.2)

[0095] Step 304, normalize as the Cartesian coordinate system of the receiving antenna, calculate the receiving horizontal angle and the receiving vertical angle First, calculate the z-axis component of v r in the Cartesian coordinate system of the receiving antenna The calculation formula is as follows

[0096]

[0097] Then calculate the component of v r in the xy plane of the Cartesian coordinate system of the receiving antenna The calculation formula is as follows

[0098]

[0099] Calculate the included angle between and , that is The formula for calculating the included angle between two vectors is as follows

[0100]

[0101] Replace v1 with v2 with The result of the calculation is the receiving horizontal angle of the receiving antenna Replace v1 with v r and v2 with Substitute into equation (1.5), the result is the receiving vertical angle of the receiving antenna Two special cases should be considered when calculating r and The angle between them is 0° and 180°, 0°, when v r and The angle between them is 0°, 0°.

[0102] Step 305, calculate the gain of the horizontal receiving direction of the receiving antenna and the gain of the vertical direction According to and the directional diagram of the receiving antenna, the gain of the receiving antenna in this direction is denoted as The calculation formula is as follows

[0103]

[0104] The calculation formula is as follows

[0105]

[0106] Step 306, create two random phases that obey (0, 2π] uniform distribution Create a matrix

[0107] Step 307, create Faraday rotation angle matrix F r The calculation formula is as follows

[0108]

[0109] Where, f c is the antenna frequency, unit: GHz.

[0110] Step 308, construct the Cartesian coordinate system about the transmitting antenna, get and After calculation and The cross product of and is used to represent The calculation formula can be expressed as

[0111]

[0112] And calculate the transmitting vector v t of the transmitting antenna, the calculation formula is as follows

[0113] v t = p r -p t(1.10)

[0114] Step 309, calculate the horizontal angle of the transmitting antenna After standardization as the Cartesian coordinate system of the transmitting antenna, calculate the horizontal angle of the transmitting antenna and the vertical angle of the transmitting antenna First, calculate v t the z-axis component in the Cartesian coordinate system of the receiving antenna Calculate v t the component in the xy plane in the Cartesian coordinate system of the transmitting antenna According to formula (1.5), calculate and the included angle between v and v t and v Put into formula (1.5), and the calculation result is Two special cases need to be considered, when v t and v the included angle is 0° and 180°, is 0°, when v t and v the included angle is 0°, is 0°.

[0115] Step 310, calculate the gain of the horizontal transmitting direction of the transmitting antenna and the gain of the vertical direction According to and the directional diagram of the receiving antenna, obtain the gain of the receiving antenna in this direction, denoted as According to the following formula similar to formula (1.6) and formula (1.7), calculate:

[0116]

[0117] Step 311, calculate the line-of-sight (Los) component at this time The calculation formula is as follows

[0118]

[0119] Where, is the time delay of the LoS path at time t, and δ is the activation function.

[0120] According to the pose of the robot model and the position of the antenna on the robot model, calculate the channel state information between the point-to-point antennas, including:

[0121] Step 401, according to the Shannon formula, the channel capacity can be represented as

[0122]

[0123] Where C is the channel capacity, B is the channel bandwidth, S represents the signal power, N represents the noise power, SNR (dB) is the signal-to-noise ratio, and the conversion formula between SNR (dB) and SNR is as follows

[0124]

[0125]

[0126] Step 402, the signal sent by the transmitting antenna after passing through the channel can be expressed by the formula, and the calculation formula is as follows

[0127] A r = HA t + A n (1.15)

[0128] Where A r represents the signal received by the receiving end, H represents the channel, A t represents the transmitted signal, and A n represents the channel noise. Since the power of the noise is small relative to the power of the signal in the 6G channel, the signal-to-noise ratio can be expressed as follows

[0129]

[0130] Where SNR t (dB) represents the signal-to-noise ratio of the transmitting antenna, P r and P n represent the power of the received signal and the power of the noise signal, respectively.

[0131] Step 403, calculate the small-scale fading of point-to-point, the calculation formula is as follows

[0132]

[0133] Where K R (t) is the Rician factor, is the line-of-sight component of the NLos path.

[0134] In the case where the capacity provided by the NLos path is small, the NLos path can be ignored, and the alternative small-scale fading calculation formula is as follows:

[0135]

[0136] Step 404, calculate the channel H, which is composed of small-scale fading and path loss. The channel model of this example only considers the Los channel and path loss, and the expression formula is as follows

[0137] ​H = PL 1 / 2 H s (1.19)

[0138] wherein, PL represents the PL path loss;

[0139] The PL channel capacity is as follows

[0140]

[0141] Thus, the capacity of the channel between the robot's chest receiving antenna and other antennas in a specific posture of the robot can be calculated.

[0142] According to another example of the present application, a method for channel modeling simulation according to a robot model is provided, as shown in Figure 7 and Figure 8 , comprising:

[0143] Step one, load the robot model and the antenna model, the antenna model contains the antenna pattern (contains antenna direction information), including:

[0144] Step 101, load the robot, the robot weight is 79.4 kg, height is 176 cm. The robot has fifty joint connection points for simulating humanoid robots in a scene. According to the data in Table 1, set the position of the antenna base relative to the robot body module, the position of the vertical module relative to the base, and the position of the horizontal module relative to the base;

[0145] Step 102, load the chest antenna position, the chest antenna is marked as Antenna chest , load the vertical emission direction of the chest antenna as z chest , the horizontal emission direction of the chest antenna as x chest , z chest and x chest into formula (1.9) to calculate y chest ;

[0146] Step 103, load the abdominal antenna position, the abdominal antenna is marked as Antenna abdomen , load the vertical emission direction of the abdominal antenna as z abdomen , the horizontal emission direction of the abdominal antenna as x Abdomen , z Abdomen and x Abdomen into formula (1.9) to calculate y Abdomen ;

[0147] Step 104, load the head antenna position, the head antenna is marked as Antenna head , load the vertical emission direction of the head antenna as z head, the horizontal emission direction of the head antenna is denoted as x head , z head and x head are substituted into equation (1.9) to calculate y head ;

[0148] Step 105, load the neck antenna position, the neck antenna is denoted as Antenna neck , the vertical emission direction of the neck antenna is denoted as z neck , the horizontal emission direction of the neck antenna is denoted as x neck , z neck and x head are substituted into equation (1.9) to calculate y neck ;

[0149] Step 106, load the right shoulder antenna position, the right shoulder antenna is denoted as Antenna rightShoulder , the vertical emission direction of the right shoulder antenna is denoted as z rightShoulder , the horizontal emission direction of the right shoulder antenna is denoted as x rightShoulder , z rightShoulder and x rightShoulder are substituted into equation (1.9) to calculate y rightShoulder ;

[0150] Step 107, load the right arm antenna position, the right arm antenna is denoted as Antenna rightArm , the vertical emission direction of the right arm antenna is denoted as z rightArm , the horizontal emission direction of the right arm antenna is denoted as x rightArm , z rightArm and x rightArm are substituted into equation (1.9) to calculate y rightArm ;

[0151] Step 108, load the right hand antenna position, the right hand antenna is denoted as Antenna rightHand , the vertical emission direction of the right hand antenna is denoted as z rightHand , the horizontal emission direction of the right hand antenna is denoted as x rightHand , z rightHand and x rightHand are substituted into equation (1.9) to calculate y rightHand ;

[0152] Step 109, load the left shoulder antenna position, the left shoulder antenna is denoted as Antenna leftShoulder , the vertical emission direction of the left shoulder antenna is denoted as z leftShoulder , the horizontal emission direction of the left shoulder antenna is denoted as x leftShoulder , z leftShoulder and x leftShoulderSubstitute z and x into equation (1.9) to calculate y leftShoulder ;

[0153] Step 110, load the left arm antenna position, the left arm antenna is labeled as Antenna leftArm , load the vertical transmission direction of the left arm antenna as z leftArm , load the horizontal transmission direction of the left arm antenna as x leftArm , Substitute z and x into equation (1.9) to calculate y leftArm ; leftArm ; leftArm ;

[0154] Step 111, load the left hand antenna position, the left hand antenna is labeled as Antenna leftHand , load the vertical transmission direction of the left hand antenna as z leftHand , load the horizontal transmission direction of the left hand antenna as x leftHand , Substitute z and x into equation (1.9) to calculate y leftHand ; leftHand ; Hand ;

[0155] Step 112, load the left thigh antenna position, the left thigh antenna is labeled as Antenna leftUpperLeg , load the vertical transmission direction of the left thigh antenna as z leftUpperLeg , load the horizontal transmission direction of the left thigh antenna as x leftUpperLeg , Substitute z and x into equation (1.9) to calculate y leftUpperLeg ; leftUpperLeg ; leftUpperLeg ;

[0156] Step 113, load the left calf antenna position, the left calf antenna is labeled as Antenna leftLowerLeg , load the vertical transmission direction of the left calf antenna as z leftLowerLeg , load the horizontal transmission direction of the left calf antenna as x leftLowerLeg , Substitute z and x into equation (1.9) to calculate y leftLowerLeg ; leftlowerLeg ; leftLowerLeg ;

[0157] Step 114, load the left foot antenna position, the left foot antenna is labeled as Antenna leftFoot , load the vertical transmission direction of the left foot antenna as z leftFoot , load the horizontal transmission direction of the left foot antenna as x leftFoot , Substitute z and x into equation (1.9) to calculate y leftFoot ; leftFoot ; leftFoot ;

[0158] Step 115, load the right thigh antenna position, the right thigh antenna is labeled as Antenna rightUpperLeg , load the vertical emission direction of the right thigh antenna, labeled as z rightUpperLeg , load the horizontal emission direction of the right thigh antenna, labeled as x rightUpperLeg , bring z rightUpperLeg and x rightUpperLeg into formula (1.9) to calculate y rightUpperLeg ;

[0159] Step 116, load the right calf antenna position, the right calf antenna is labeled as Antenna rightLowerLeg , load the vertical emission direction of the right calf antenna, labeled as z rightLowerLeg , load the horizontal emission direction of the right calf antenna, labeled as x rightLowerLeg , bring z rightLowerLeg and x rightlowerLeg into formula (1.9) to calculate y rightLowerLeg ;

[0160] Step 117, load the right foot antenna position, the right foot antenna is labeled as Antenna rightFoot , load the vertical emission direction of the right foot antenna, labeled as z rightFoot , load the horizontal emission direction of the right foot antenna, labeled as x rightFoot , bring z rightFoot and x rightFoot into formula (1.9) to calculate y rightFoot ;

[0161] Step 2, load the robot pose, calculate the channel capacity between each transmitting antenna and the receiving antenna, where the receiving antenna is the chest antenna and the rest are transmitting antennas, including:

[0162] Step 201, load the robot pose, update the position of all antennas, and the emission vectors x, y, z of the antennas;

[0163] Step 202, calculate the receiving vertical and horizontal angles of the receiving antenna, and use formula (1.2) to calculate the receiving vector v r between each receiving antenna and each transmitting antenna, use formulas (1.3), (1.4), (1.5) to calculate the vertical and horizontal angles of the receiving antenna and each transmitting antenna, respectively, labeled as use formulas (1.6), (1.7) to obtain the receiving direction gain matrix

[0164] Step 203, create two random phases that obey uniform distribution (0, 2π] create a matrix create the Faraday rotation angle matrix F according to formula (1.8)r ;

[0165] Step 204, the sending vertical angle and the sending horizontal angle of the sending antenna are calculated, and the receiving vector v between each sending antenna and the receiving antenna is calculated using formula (1.2) t The vertical angle and the horizontal angle of each sending antenna and the receiving antenna are calculated using formula (1.3) (1.4) (1.5), and are respectively denoted as The sending direction gain matrix is obtained using formula (1.6) (1.7)

[0166] Step 205, the time delay of the receiving antenna and the sending antenna is calculated, and the formula is as follows:

[0167]

[0168] Wherein, τ L represents the time delay, len represents the distance between the receiving antenna and the sending antenna, and the unit is meter, and c represents the speed of light. The above obtained variable is brought into formula (1.11) to obtain

[0169] Step 206, the and the Rician factor K R (t) are brought into formula (1.18) to obtain the small scale fading H s The path loss PL is calculated, and the calculation formula is as follows:

[0170]

[0171] Wherein, G l is the gain product of the receiving antenna and the sending antenna, λ is the wavelength, and d is the distance. The PL and H s are brought into formula (1.19) to calculate the channel H;

[0172] Step 207, H is brought into formula (1.20) to calculate the channel capacity C between the receiving antenna and the sending antenna.

[0173] It should be understood that Figure 8 The loading order of the antenna (model) in the above formula is adjustable, and can be set according to the needs of the user or the implementer.

[0174] The schematic results after modeling simulation based on the above example can be seen from Figures 9-12 , wherein Figure 9 shows the overall channel capacity of the robot body domain MISO wireless channel under different SNRs and bandwidths when using Radial6.0Hz antenna. Figure 10The overall channel capacity of the robot body area MISO wireless channel under different SNRs and bandwidths using the patchMicrostripEnotch6.0Hz antenna is shown. It can be seen that the channel capacity increases with the increase of SNR under the conditions of bandwidth of 60MHz, 80MHz and 100MHz. It can be seen that for applications that require transmission of a large amount of data, it is ideal to choose a higher bandwidth and optimize the SNR conditions.

[0175] Figure 11 The change of channel capacity of partial component antennas under different poses of the robot is shown under the Radial6.0Hz antenna. Figure 12 The change of channel capacity of partial component antennas under different poses of the robot is shown under the patchMicrostripEnotch6.0Hz antenna. The results show that the channel capacity of the head under the Radial6.0Hz antenna is relatively stable and maintains a high level, while the channel capacity of the right hand and left foot fluctuates significantly with the change of the pose of the robot. This fluctuation may be due to the change of the signal propagation path caused by the change of the relative position between the motion of the robot and the chest. For example, when the hand or foot of the robot is in a distant position, the channel capacity may decrease, while when these parts are closer to the transmission source or in a more open space, the channel capacity may increase. When designing a robot, the antenna module can be placed in the head because the channel capacity of the head is relatively stable. In addition, setting different antennas to understand the influence of different poses on the channel capacity can help engineers predict the communication performance of the robot in complex environments.

[0176] In general, the advantages of the method of the present application include at least:

[0177] 1. The position and direction of the antenna model obtained by combining the three-dimensional spatial pose simulation of the robot model are used to calculate the channel state information, which can obtain the channel state information of the robot body area under the change of the pose of the robot, and is more flexible;

[0178] 2. The modeling method based on mathematical model and spatial pose simulation is used to calculate the wireless channel state information of the robot body area, which reduces the hardware and software resource overhead and time cost required in actual test;

[0179] 3. The existing body area wireless channel modeling has not yet considered the influence caused by different types of antennas, because the gains of different antennas in different directions are different, so the selection of the antenna has an influence on the robot body area wireless channel modeling. Therefore, the method can allow the user to select the required type of antenna model to load onto the robot model for simulation, and can simulate the current channel state in real time as the posture of the robot model changes, which is beneficial to understand the propagation characteristics of signals in the robot body area and analyze the influence of the layout of the antenna module on the channel.

[0180] 4. Based on the 6G universal channel model, different antenna types and different frequency bands can be modeled in the robot body area wireless communication scenario, which is more universal.

[0181] It should be noted that although the above describes the steps in a specific order, it does not mean that the steps must be performed in the above specific order, in fact, some of the steps can be performed concurrently, or even the order is changed, as long as the required function can be realized.

[0182] The present application can be a system, a method, and / or a computer program product. The computer program product can include a computer readable storage medium having computer readable program instructions embodied therewith to implement various aspects of the present application.

[0183] The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium can be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the above. More specific examples (a non-exhaustive list) of the computer readable storage medium include a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a hole in a raised structure, and any suitable combination of the above.

[0184] The above has described the embodiments of the present application, the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles, practical applications or technical improvements in the market of the embodiments, or to enable other ordinary skilled persons in the art to understand the embodiments disclosed herein.

Claims

1. A method for modeling and simulating a robot body channel, characterized in that: include: Obtaining a robot model constructed for a simulated robot, the robot model comprising a plurality of components wherein associated components are movably connected via joints; Obtain a constructed antenna library, which includes a variety of antenna modules for selection, and each antenna module can be used to simulate the radiation characteristics of the antenna model it represents; Provide an interactive interface that can display the robot model and antenna module from the user's desired perspective, and a functional module that can receive user operations to install the antenna module selected from the antenna library to the relevant components of the robot model in the desired position and direction; The robot model is controlled to adjust its posture and drive the antenna modules on the components to adjust their position and direction. Based on the adjusted posture and the corresponding radiation characteristics of the antenna modules, the wireless channel between the antenna modules that need to communicate is simulated, and the state of the wireless channel within the robot model body under this posture is evaluated.

2. The method according to claim 1, characterized in that Each antenna module includes a base for representing the antenna body and a direction indicator for setting the directionality of the antenna. When installing the antenna module, an interactive interface is provided to visually display the base and direction indicator of the antenna module. The components and positions to which the antenna module is attached are set by deploying the base, and the direction of the antenna module is set by adjusting the orientation of the direction indicator.

3. The method according to claim 2, characterized in that Each antenna module also includes a directional pattern for indicating the radiation characteristics of the antenna model it represents, wherein each direction indicator of the antenna module is associated one-to-one with a corresponding direction in the directional pattern.

4. The method according to claim 1, wherein The process of evaluating the state of the wireless channel within the robot model body at the posture includes: Obtain multiple bandwidths and multiple signal-to-noise ratios to generate bandwidth-signal-to-noise ratio combinations to be simulated according to user needs; Based on each combination to be simulated, the channel state between the antenna modules that need to communicate is evaluated. The channel state includes the overall total channel capacity and / or average channel capacity under the combination, and / or the channel capacity of each sub-channel formed between the antenna modules that need to communicate.

5. The method according to claim 1, wherein The process of evaluating the state of the wireless channel within the robot model body at the posture includes: Control the movement of the robot model and sample multiple poses during the movement; Based on each sampled posture, the state of the wireless channel in the robot model body area at the posture is evaluated respectively; Based on the temporal nature of the sampled postures, the changes in the state of the wireless channel in the body area during the movement of the robot model are graphically displayed, or based on the temporal nature of the sampled postures, the changes in the state of the wireless channel in the body area during the movement of the robot model and the changes in the posture of the corresponding robot are graphically displayed in association.

6. The method according to claim 1, characterized in that The antenna modules in the antenna library include multiple antenna models based on 6G technology, which are used to simulate the 6G channel status within the robot body; and / or The antenna modules in the antenna library include a variety of antenna models for communication based on centimeter waves, which are used to simulate the channel state of communication based on centimeter waves within the robot body.

7. The method according to any one of claims 1 to 6, characterized in that The multiple antenna modules provided on the robot model are used to simulate the channel state of a SISO, SIMO, MISO or MIMO channel.

8. The method according to any one of claims 1 to 6, characterized in that The robot model is a model for simulating a humanoid robot, and the plurality of components include components corresponding to the head, neck, shoulders, chest, abdomen, arms, hands, legs and feet of the humanoid robot; or The robot model is a model for simulating an animal-shaped robot, and the multiple components include components corresponding to the head, neck, torso, legs and feet of the animal-shaped robot.

9. A computer program product comprising a computer program / instruction, which implements the steps of the method according to any one of claims 1 to 8 when the computer program / instruction is executed by a processor.

10. An electronic device, characterized in that: include: one or more processors; as well as a memory, wherein the memory is used to store executable instructions; The one or more processors are configured to implement the steps of the method of any one of claims 1 to 8 by executing the executable instructions.

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