34 results about "Dynamic motion" patented technology

This invention relates to the field of humanoid robot technology and discloses a humanoid robot torso waist rotation linkage adjustment device, including a torso lower mounting plate, a central rotation axis, an intermediate connecting bracket, a left hip connecting seat, and a right hip connecting seat. The torso lower mounting plate is horizontally disposed at the bottom of the robot torso. The central rotation axis is arranged vertically and its upper end is coaxially fixedly connected to the lower surface of the torso lower mounting plate. The intermediate connecting bracket is fitted into the middle of the central rotation axis and rotatably connected to the central rotation axis. The left hip connecting seat and the right hip connecting seat are symmetrically arranged on both sides of the lower end of the intermediate connecting bracket. This invention achieves synchronous adjustment of torso waist rotation and lower limb posture through a mechanical linkage structure, which can adjust the lower limb posture in time during waist rotation, effectively counteract the center of gravity shift caused by torso rotation, and improve the robot's balance stability in dynamic motion scenarios.

This invention discloses a personalized and adaptable spot positioning and filter integration design method. Addressing the technical problems of uneven film thickness and poor film formation consistency in existing large-area coating processes, it constructs a dynamic-static synergistic coating control system by combining the dynamic motion mode of the coating target with the static positioning optimization of the substrate and the precise control of static parameters of the coating environment. Simultaneously, it introduces zoned coating compensation, real-time film thickness monitoring feedback, and dynamic trajectory adaptation strategies to achieve uniform deposition of coating materials on large-area substrate surfaces, effectively improving the film thickness consistency, film formation uniformity, and film performance stability of large-area coatings. This invention is convenient to operate, provides precise control, and is compatible with various coating processes such as magnetron sputtering, vacuum evaporation, and ion plating. It can be widely applied to large-area coating production in fields such as flat panel displays, photovoltaic glass, semiconductor wafers, and large-area optical devices.

The invention relates to a foot-type robot cooperative control method based on environment and cluster interaction force, belongs to the technical field of foot-type robot control, and solves one of the problems that an existing foot-type robot cluster is poor in complex terrain adaptability, unstable in dynamic motion control and weak in multi-robot cluster cooperative capability. The method comprises the following steps: obtaining individual state information and neighbor state information of each foot type robot in a cluster at the current moment, and constructing a state space of each foot type robot; based on the state space of each foot type robot, the trained control model of each foot type robot is used to generate each joint torque instruction of each foot type robot at the next moment so as to control each foot type robot to move; wherein the foot type robot control model is a strategy network obtained through reinforcement learning training; during training, a global state space is constructed by aggregating the state spaces of all the foot type robots in the cluster, and the value of action strategies of all the foot type robots in the cluster is evaluated and optimized.

An apparatus designed to enhance the effectiveness of leg press exercises by incorporating dynamic movements that coordinate both the upper and lower body. The apparatus allows users to perform integrated leg press and chest press exercises, providing a comprehensive solution for lower body strength training. The apparatus includes a base platform with a seat and adjustable backrest to support the user in a seated position, ensuring a comfortable and healthy posture. Foot pedals are configured to move between two vertical positions in response to the user's leg movements, allowing for customizable resistance and optimal muscle engagement. Additionally, the apparatus includes a pair of handles for performing chest press exercises, adjustable to accommodate different body sizes. With weight stacks and range controllers to adjust resistance and motion, the apparatus offers a safe, efficient, and holistic approach to strength training, enhancing neuromuscular coordination and promoting natural, functional movements.

The present application relates to a kind of fusion ground action force perception's legged robot cluster cooperative control method, belong to robot decision and control technical field, solve the poor adaptability of existing legged robot control method in complex terrain, dynamic motion control is unstable, the problem of weak multi-robot cluster cooperation ability.Method includes: obtaining the state information and environmental perception information of each legged robot and constructing the state space of each legged robot;Based on the state space, using the trained legged robot control model, the motion control instruction of each legged robot in next time is generated to control the motion of each legged robot;Wherein, legged robot control model is the trained actor network;When training the actor network, using critic network, with the global state space constructed by the state space of all legged robots in cluster and the action strategy of all legged robots in cluster as input, the joint value of legged robot action in cluster is evaluated.

The application discloses a kind of based on environmental perception's exoskeleton robot gait autonomous decision-making method, belong to robot automatic control field.It is composed of data acquisition module, environmental perception module, gait switching module three parts, wherein data acquisition module obtains current scene information data by vision sensor, the type information and distance information of ground in front are measured by environmental perception module, gait switching module calculates the landing point of each step according to the track energy of man-machine system, and the end trajectory is planned using the method of dynamic motion primitive, and the step length is dynamically adjusted, so that man-machine system can smoothly reach the terrain in front;And the size information of terrain in front is obtained by environmental perception module, and the gait parameters of exoskeleton robot are dynamically adjusted, to ensure that exoskeleton robot can smoothly, safely and autonomously switch gait;Through motor execution position feedback information, whether the current task of exoskeleton robot is executed is judged in real time.

The present application relates to the technical field of virtual fitting, and particularly relates to a virtual fitting fit evaluation method based on dynamic posture, comprising the following steps: acquiring dynamic posture data of a user when the user performs a preset action sequence, constructing a digital fabric physical model containing physical parameters of tensile stiffness, bending stiffness and shear stiffness, and calculating the tensile, wrinkle and fit changes of clothes under the driving of the dynamic posture data to generate dynamic deformation data; subsequently, calculating the initial gap distribution and initial pressure mapping between the clothes and the body based on the dynamic deformation data, obtaining a stable gap distribution and an accurate pressure mapping through space-time consistency analysis; finally, generating fit evaluation indexes containing a dynamic fit index, a local compression coefficient and an overall fit score, and outputting a fit report through visual rendering. The present application can reflect the fit state of clothes under dynamic movement, and improve the fine evaluation capability of virtual fitting.

Apparatus and associated methods relate to a system configured to automatically identify a kinematic profile of a user and generate a recommendation library. In an illustrative example, a dynamic kinematic intelligence platform (DKIP) may activate a sensor module in response to a neuromuscular activation signal. A sequence of N kinematic evaluation, for example, may be retrieved to assess a user's health conditions. For example, a movement code generation operation may include, for i = 1 to N, transmit an i-th kinematic evaluation from the sequence of kinematic evaluation to a user device, and generate an i-th movement code of the user corresponding to the i-th kinematic evaluation performed by the user. For example, the movement code may include a first key comprising balance, core, and flexibility values, and a second key comprising posterior, vertical, lateral, anterior, and core lines values. Various embodiments may advantageously generate an individualized full-body enhancement library.

The application discloses a parameterized decoupling driving compensation method for a multi-segment rope-driven continuum robot, which comprises the following steps: a variable-curvature kinematics model of the multi-segment rope-driven continuum robot based on a generalized antagonistic factor is established, and a recursive rope tension solver based on adaptive damping fixed-point iteration is constructed; in a dynamic motion process, a linear interpolation model is constructed by using normalized hysteresis progress, and the generalized antagonistic factor is corrected in real time; a feedforward compensation instruction containing cable elastic elongation and skeleton axial compression is constructed based on a lumped parameter model; and step-by-step parameter identification is performed by adopting a sequential locking strategy from a base to an end. Compared with the prior art, the application can compensate the comprehensive error caused by multi-segment coupling, friction hysteresis and structural elasticity accurately without an external sensor by only simple calibration, so that the end pose control precision of the robot is improved.

This invention discloses a method and system for dynamic motion simulation of scraper conveyor chains based on 3D modeling, belonging to the field of digital simulation technology for industrial equipment. The method includes acquiring a 3D model of the basic components of the scraper conveyor, reading the vertex coordinates of an auxiliary motion trajectory model, and generating a motion trajectory curve; parameterizing the arc length of the motion trajectory curve to generate uniform motion control parameters; generating chain instances based on a preset chain repetition number, and binding the chain instances to the motion trajectory curve; receiving chain motion state parameters, and driving the chain instances to displace along the motion trajectory curve according to the uniform motion control parameters, dynamically adjusting the motion simulation effect. Compared with traditional implementation methods, the method of this invention effectively solves the performance bottleneck problem, reduces resource consumption, and has certain guiding significance for equipment fault diagnosis and predictive maintenance. It provides a practical approach for 3D simulation of industrial equipment and is a key technology for the digital and intelligent transformation of the industrial field.

The present application belongs to the technical field of industrial robots, and particularly relates to a robot collaborative sewing method and system based on human-machine skill transfer, which comprises the following steps: acquiring the hand movement trajectory and fabric tension of a demonstrator during sewing; obtaining a sewing initial trajectory according to a dynamic motion primitive and the acquired hand movement trajectory; obtaining a sewing desired tension according to a force primitive and the acquired fabric tension; acquiring real-time sewing tension of the fabric, combining the obtained sewing desired tension and an impedance control model to obtain a tension compensation trajectory for robot sewing; judging in real time whether the fabric is wrinkled to obtain a fabric wrinkle compensation trajectory; and obtaining an actual sewing trajectory of the robot according to the obtained sewing initial trajectory, sewing tension compensation trajectory and wrinkle compensation trajectory, so as to complete robot collaborative sewing.

The application discloses a kind of kinematic primitives and off-line programming hybrid robot control method and system, the method includes: the position, pose and normal contact force of the trajectory of the person grinding and polishing of the processed workpiece are collected, each dimension of the data collected is encoded by dynamic kinematic primitives, the region to be processed of the workpiece to be processed is identified, and is corrected by the camera device arranged on the machining robot;The to-be-processed region is divided into a plurality of feature classes, and a matching degree model of the feature class and the machining kinematic primitive is set, the matching degree of the feature class of the to-be-processed region and the machining kinematic primitive is calculated, and the machining kinematic primitive is assigned to each feature class according to the matching degree, wherein the matching degree model of the feature class and the machining kinematic primitive includes setting correlation function, for calculating the correlation of each feature class and the correlation of each machining kinematic primitive.

An apparatus for enhancing knee flexion and extension exercises by integrating dynamic movement and coordination across the upper body, core, and lower body. The apparatus includes a base platform with an adjustable backrest that supports the user's back. The apparatus includes multiple adjustable lever pads for knee extension and flexion exercises, each with customizable resistance via weight stacks and range controllers to ensure safety and comfort. A third lever pad allows for lateral hip flexion exercises, promoting engagement of core and hip muscles. These components are designed to accommodate users of varying sizes and fitness levels, while the apparatus facilitates multi-planar movement, improving neuromuscular coordination, balance, and reducing the risk of injury through natural, functional exercise patterns.

A flexible joint is used to accommodate dynamic movement such as settlement, seismic and thermal movements. A portion of an outer surface of a ring is surrounded by a sleeve. A coupling attaches the sleeve to the ring. The sleeve is slidably movable on a section of the portion of the outer surface of the ring. The portion of the outer surface comprises first and second grooves, a partial spherical segment, a first frustoconical segment positioned adjacent the partial spherical segment and a second frustoconical segment positioned adjacent the partial spherical segment. The outer surfaces of the first and second frustoconical segments taper away from the partial spherical segment.

This disclosure relates to the field of biomimetic robotics, specifically providing a method and apparatus for generating robot motion trajectories. The method includes obtaining a corresponding behavior sequence based on the robot's motion behavior; for each time point in the behavior sequence, determining the optimal variable corresponding to each time point based on a target dynamics model; and determining the target trajectory corresponding to the motion behavior based on the optimal variable. In this disclosure, a target dynamics model for optimizing high-dynamic motion trajectories is constructed based on the robot's center-of-mass dynamics and whole-body kinematics. This simplifies the trajectory optimization algorithm and effectively reflects the whole-body motion information of the robot during high-dynamic motion. By encoding the corresponding behavior sequence for high-dynamic motion, the method accurately reflects the motion information during various high-dynamic motion processes, thereby improving trajectory planning accuracy.

The application provides a method for measuring overload of a special device in a pitching motion test, which comprises arranging an inclination sensor in the axial direction of the pitching motion of the special device, arranging a one-way overload sensor at a measured point, and obtaining the overload of the special device by measuring the included angle between the special device and the horizontal line by the inclination sensor and the tangential direction acceleration of the special device measured by the one-way overload sensor. The method of the application avoids the influence of transverse vibration error and axial acceleration error in principle, simultaneously measures and records the angle change process of the pitching motion test by the inclination sensor in real time, intuitively reflects the dynamic motion trajectory of the special device, and the description of the motion trajectory by the mathematical model is relatively simple, the calculation amount is smaller, and the error accumulation is smaller.

Systems and methods are provided to perform measurements of vibratory motion in three axes using two or more cameras. The cameras are mounted in a fixed spatial relationship to each other and are calibrated such that internal camera distortion and external camera coordinate transformations are determined. Data from each pair of cameras can be processed independently to determine the z-axis motion from changes in the x-axis and y-axis motion measured by the cameras. Measurement noise can impact the small differences in values from camera pairs and multiple techniques have been identified to reduce noise and make reliable measurements of the z-axis vibratory motion. If more than two cameras are utilized, then the data from each pair can be averaged to improve the measured values.

This invention provides a personalized training control method for robotic arms based on dynamic motion primitives. This application uses dynamic motion primitives to encode and generate the basic form and reconstructability of a person's trajectory. Then, by constructing a dual-objective loss function that integrates trajectory tracking error and interaction force error, it establishes the goals of co-optimizing position accuracy and interaction compliance. Next, it uses a recursive least squares method to dynamically update the weights and target points of the basis function, enabling dynamic adjustment of the training trajectory amplitude based on the patient's real-time movement ability and intentions; thus improving the compliance and safety of human-computer interaction.

This invention discloses a method for solving control points based on non-uniform B-spline and a continuous-time localization method. It employs a continuous-time domain state representation model and uses non-uniform B-spline with adaptive node spacing as the mathematical basis for trajectory parameterization. Based on this, continuous-time trajectory optimization is performed, which is further subdivided into two key steps: B-spline control point initialization and adaptive sliding window continuous-time trajectory optimization. The method described in this invention can closely adapt to the dynamic motion changes of the robot, and can significantly improve the stability and overall robustness of localization in challenging scenarios with complex motion changes.

A dynamic-movement-primitive-based adaptive skill learning method for a dual-arm robot. The method comprises: acquiring demonstration data, establishing dynamic movement primitive models, enabling, by means of the dynamic movement primitive models, dual arms to respectively learn shape features of trajectories from the demonstration data, generating corresponding trajectory shape functions, and obtaining initial trajectory control weights; acquiring new task target points, and combining the new task target points with the initial trajectory control weights and the trajectory shape functions, which are obtained by means of learning, so as to generate initial trajectories similar to demonstration trajectories; optimizing the initial trajectories to obtain optimized trajectory shapes, and obtaining optimized trajectory control weights; and substituting the optimized trajectory control weights into the dynamic movement primitive models, and performing adaptive adjustment by using adaptive time scaling factors based on trajectory change rates, so as to generate optimized trajectories of the dual arms, such that the efficient and accurate completion of a task by a robot can be ensured.

The application relates to a micro-low-gravity simulation device for aerospace popular science experience, and relates to the technical field of aerospace ground simulation systems. The application is used for solving the problem that an existing partial suspension system is prone to additional horizontal disturbance force and sling tension fluctuation when an experimenter is in high dynamic motion. The application comprises a support frame, a constant tension control mechanism, a two-dimensional dynamic tracking mechanism, a bearing connecting mechanism and an electric control box, the constant tension control mechanism and the two-dimensional dynamic tracking mechanism are electrically connected with the electric control box, the constant tension control mechanism provides stable and controllable constant tension in the vertical direction for the bearing connecting mechanism, the two-dimensional dynamic tracking mechanism is arranged on the upper portion of the support frame and is used for driving the bearing connecting mechanism to move in two dimensions, so that the stable unloading tension in the vertical direction is guaranteed. The application is used for aerospace popular science experience.

This invention discloses a video crowd counting method, apparatus, and computer-readable storage medium, relating to the field of video crowd counting technology. The method includes acquiring a sequence of video frames to be processed; for each frame in the video frame sequence, generating a motion guide map based on the current frame and its temporally adjacent frames; extracting features from multiple consecutive frames in the video frame sequence and their corresponding motion guide maps to obtain static appearance features and dynamic motion features for each frame; fusing the static appearance features and dynamic motion features through a pre-constructed multi-path fusion network to obtain the final features; outputting a crowd density map of the current frame based on the final features, and calculating the estimated number of people in the current frame based on the crowd density map; the multi-path fusion network includes a dual-path reconstruction module and a global temporal context aggregation module.

The present invention relates to a mechatronic device for measuring hand strength and wrist joint movement, designed to record biomechanical variables generated during the interaction between a user's hand and a manipulable object. The device comprises a structural body with instrumented contact surfaces, at least one force sensor to detect the pressure exerted by the fingers, a multiaxial inertial sensor to record the dynamic movement of the device, an electronic processing unit for signal acquisition and processing, and a communication module to transmit the data to an external analysis system.The integration of force sensors and inertial sensors allows simultaneous measurement of grip strength and kinematic behavior associated with wrist movement during functional tasks, providing a technological tool for clinical evaluation, rehabilitation, and biomechanical research of the upper limb.

The application relates to the technical field of automatic mechanical hand and discloses an automatic gantry type mechanical hand device, which comprises a moving frame. According to the scheme, two sets of pure mechanical self-adaptive systems are cooperatively used to improve the dynamic motion precision and system stability of the mechanical hand under high-speed and frequent start-stop working conditions. On one hand, through self-adaptive regulation of the interface gap, the follow-up optimization of the contact stiffness of the guide pair is realized, and the motion instability risk is eliminated from the source; on the other hand, through the absorption and redistribution of the system kinetic energy, the dynamic disturbance of the cross beam is inhibited. The two sets of systems cooperatively act from two dimensions of motion constraint stability and motion drive stability, so that the mechanical hand can still realize high-precision repeated positioning under the limit working condition, and the comprehensive effect is obviously better than that of the simple superposition of the functional modules.

The application relates to an orthopedic support, comprising a spinous process support and a lamina support connected with each other, wherein the spinous process support comprises a first surface away from the lamina support and a second surface connected with the lamina support, wherein the spinous process support comprises a first channel and a second channel for a bone nail to pass through the first surface. The spinous process support is fixed at the pedicle of the vertebra by the bone nail, the stability and controllability of the lumbar structure movement can be achieved, the original movement of the lumbar vertebra is simulated, the dynamic movement of the spine is ensured, and the postoperative movement of the patient is more flexible. The application also comprises an orthopedic support system.

The present application relates to the technical field of computer simulation, in particular to a method and system for simulating a working scenario of a tow truck with a tow bar and an aircraft, which comprises a tow truck model, a tow bar model and an aircraft model covering multi-body system dynamics, and accurately configures a first mechanical correlation constraint between the tow truck and the tow bar and a second mechanical correlation constraint between the tow bar and the aircraft according to a target working scenario, thereby reproducing a physical interaction process in a dynamic scene model under a real working environment, and accurately reproducing a force transmission path and a force balance state in a towing working process based on a physical engine. In combination with real-time operation input signals and preset constraint relationships, the model is driven to perform high-fidelity dynamic motion simulation, and visual, auditory and force feedback data are synchronously generated to form a closed-loop interactive training environment, thereby reproducing a special working scenario of a tow truck with a tow bar and an aircraft, and providing a real and effective working scenario simulation for a tow truck driver.

A ground test method for space mechanical arm visual servo verification, the mechanical arm controller, the mechanical arm product, the camera product and the matched software and the like are all 100% involved in ground test verification, the simulation system is used to project the space mechanical arm plane motion to three-dimensional motion, the ground hardware test equipment is reduced, and the economic cost of test verification is reduced; the invention does not limit the mechanical arm motion speed, can carry out ground test verification according to the on-orbit real working condition input according to the overall task, and greatly improves the space-ground consistency of system test; the invention does not need to model the mechanical arm dynamics characteristics, eliminates the error caused by dynamics modeling or external mechanical arm dynamics coupling, and improves the space-ground consistency of dynamics motion equivalence.

The present disclosure relates to an apparatus and a method for analyzing the static posture and dynamic motion of a body. The apparatus of the present invention comprises: an image acquisition unit for acquiring an initial image of a subject; a three-dimensional information extraction unit for extracting three-dimensional information of the subject from the initial image; a camera direction determination unit for determining a reference camera direction on the basis of posture information to be analyzed; an orthogonal image generation unit for generating an orthogonal image on the basis of the reference camera direction, the three-dimensional information, and the initial image; and a posture analysis unit for analyzing the subject's posture on the basis of the orthogonal image. According to the present invention, it is possible to analyze a posture with high accuracy even in an image captured at a short distance and to effectively analyze depth and rotation information in a three-dimensional space.

This application provides a robot learning control method, device, medium, and equipment based on dynamic trust region and motion primitive intervention, including: inputting the robot's current state into a policy network to generate preliminary action commands; dynamically calculating a non-uniform trust region threshold based on the robot's current end-effector pose, comparing the pose deviation of the current end-effector pose relative to the target point with the non-uniform trust region threshold to determine the intervention trigger; generating a smooth motion trajectory in real time based on the dynamic motion primitive model for the current end-effector pose and the target point pose, and outputting the final action command; sending the final action command to the robot for execution, storing the new state and reward signal after the action execution in an experience playback buffer, and training and updating the policy network based on the data in the experience playback buffer. This significantly improves the safety, reproducibility, and autonomous learning capability of robot reinforcement learning training, forming a positive feedback adaptive learning loop.

The utility model discloses a kind of dynamic simulation driving motion shaft and the motion support applied to it, wherein dynamic simulation driving motion shaft includes integrated screw rod servo motor (1) and dynamic shaft (2), the dynamic shaft (2) is arranged in the cavity of lower base (209), and the integrated screw rod servo motor (1) is fixedly connected with lower base (209) by seventh screw (2019). Compared with prior art automobile dynamic simulation driving shaft, the structure is simple, and the design is ingenious. When experiencing car driving, dynamic shaft combined with platform support can feedback the motion state of the suspension of the car, making it closer to the real car driving experience. Let users experience the fun of driving flying cars in a virtual environment, improving the sense of immersion.