910 results about "Whole body" patented technology

The invention discloses a real-time whole-body remote operation control system for a humanoid robot, and the system comprises a motion instruction generation subsystem which is located at an operation end and is used for receiving and analyzing input instructions of various modes, and carrying out the unified conversion and complementation of the input instructions into a whole-body joint motion instruction which is suitable for a skeleton structure of a target humanoid robot; the body motion control subsystem is located at the robot end and used for receiving the whole-body motion instruction, adaptively generating a whole-body motion coordination control signal capable of ensuring the stability of the robot in combination with the state of the robot and environment information, and driving and executing the whole-body motion coordination control signal; through cooperation of the two subsystems, the system provides a dual guarantee path for realizing whole-body teleoperation: a complete whole-body instruction can be generated based on the instruction generation subsystem, and whole-body motion can be adaptively generated by the body motion control system according to a received local instruction; and the robustness, the flexibility and the reliability of the system under different conditions are ensured.

Provided are a planning and control method for a legged robot, an apparatus, a robot, and a storage medium. The method includes: determining, based on the movement state and the swing parameter of each leg at the next moment, a foot-end reference state of each leg, and planning, based on a foot-end dynamic model and a discrete collision model, an impact-aware swing leg trajectory for a leg that starts to swing at the next moment; and performing, based on the movement state, the reference state sequence, and the foot-end reference state, whole-body control on the legged robot, and performing, based on a whole-body dynamic model and the discrete collision model, impact-aware whole-body control for a leg that is a supporting leg in planning but does not touch the ground.

The invention discloses a double-foot wheel-legged robot pose control method and device based on hierarchical cooperative control, a medium and a product, and relates to the field of robot control, and the method comprises the steps that a hierarchical cooperative control framework is constructed; the layered cooperative control framework comprises a balance controller and a whole body attitude controller; the balance controller determines a reference wheel joint driving torque based on a simplified inverted pendulum dynamic model according to the pose information of the upper mass center of the biped wheel-leg robot; the whole-body attitude controller performs optimization control on all joints of the biped wheel-leg robot by adopting an incremental model prediction control algorithm combined with a reference wheel joint driving moment based on a whole-body dynamic model; state information of the biped wheel-legged robot is obtained; according to the state information, a driving torque instruction of each joint is obtained based on a hierarchical cooperative control framework; and driving the double-foot wheel-leg robot to move according to the driving torque instruction of each joint. The precision, robustness and real-time performance of robot motion control can be improved.

The invention belongs to the technical field of robot motion control, and particularly relates to a quadruped robot control method based on error symbol robust integral feedback, which combines an RISE control mechanism with a constraint-based optimization method, and realizes high-precision trajectory tracking and strong-robustness control under the condition that a system model has relatively large uncertainty. According to the method, RISE controllers are designed in a position subsystem and a posture subsystem respectively, quadratic programming (QP) optimization distribution of ground contact force is fused, control input is dynamically adjusted while the physical feasibility of foot end force is ensured, and closed-loop stable control over the whole-body movement of the quadruped robot is achieved. The control strategy has an asymptotic error convergence characteristic, and can be widely applied to quadruped robot motion tasks with severe load change and frequent interference.

The invention discloses a wheel-foot humanoid robot operation control method and system based on maneuverability optimization, and relates to the technical field of robot intelligent control. According to a mechanical arm tail end trajectory tracking task and mechanical arm joint motion constraints, a weight matrix is calculated in a self-adaptive mode through state vectors of a base and a mechanical arm joint; a robot dynamic model is constructed, and the tail end contact force of the mechanical arm is estimated based on a disturbance observer; the direction of the control force is determined according to an estimation result, and then force maneuverability enhancement is carried out; a speed instruction of an end effector is obtained, the expected base speed and the expected mechanical arm joint speed are obtained through a weight matrix, a hierarchical control frame of a model prediction controller and a whole-body controller is constructed based on an integrated dynamic model, the optimal wheel-leg interaction force spinor and the optimal joint torque are obtained through solving, and the optimal wheel-leg interaction force spinor and the optimal joint torque are obtained. Therefore, the whole-body motion control of the robot is driven. Through organic combination of disturbance compensation and force maneuverability optimization, the motion stability and operation efficiency of the robot are enhanced.

The invention discloses a control method, and the method comprises the steps: collecting the data of a centroid state and an MPC optimal ground acting force in a plurality of motion states of a robot, designing a full-connection residual network, taking the centroid state information as the input, taking the ground acting force as the output, and designing a loss function based on priority. Upper and lower bounds of a friction cone and a sole reaction force are constrained, and the network is trained offline to fit MPC optimization quantity, so that an efficient mode of online reasoning is realized; the joint angle and the angular velocity are fused with the action at the previous moment, the centroid linear velocity and the angular velocity and the foot-ground acting force fitted through a residual network, a bionic reference trajectory is generated through a human motion public data set, different weights are given to a reward function group according to a dominant function value obtained through calculation, and the control performance is improved; symmetrical loss constraint is added to lower limb movement, and the algorithm convergence speed is increased. And finally, training to obtain a whole-body control strategy based on model priori knowledge and a human motion reference trajectory.

The invention discloses a humanoid robot teleoperation system and a control method thereof. The system comprises the steps that an exoskeleton unit collects joint angle information and arm length information of arms of an operator; the data glove collects finger joint angle information of an operator; the inertial measurement unit collects space attitude information of the head and the chest of an operator; the double-shaft control pedal is used for generating integral moving, lifting and rotating control signals of the humanoid robot on the basis of foot actions of an operator; and the central controller receives the arm joint angle information, the arm length information, the finger joint angle information, the head and chest space attitude information and moving, lifting and rotating control signals of the humanoid robot, obtains a whole-body cooperative motion control instruction of the humanoid robot through kinematics calculation, and sends the whole-body cooperative motion control instruction to a control end of the humanoid robot. The high-fidelity teleoperation of the whole-body motion of the humanoid robot is realized by fusing the collected whole-body motion data of the operator and combining the self-adaptive kinematics of the central controller for resolving.

Introduced here are pressure-mitigation systems able to mitigate the pressure applied to a human body by the surface of an object (also referred to as a “structure”). A controller device (or simply “controller”) can be fluidically coupled to a pressure-mitigation device that includes a series of selectively inflatable chambers. When a pressure-mitigation device is placed between a human body and a surface, the controller can continuously, intelligently, and autonomously circulate fluid through the chambers of the pressure-mitigation device. Normally, the controller circulates air through the chambers of the pressure-mitigation device, though the controller could circulate another fluid, such as water or gel, through the chambers of the pressure-mitigation device. The controller may cause the chambers to be selectively inflated, deflated, or any combination thereof.

The invention relates to a robot dog dynamic balance and fall self-recovery method and device for a complex terrain, and the method comprises the steps: building a robust local elevation map through fusing multi-sensor data and quantifying the motion uncertainty of a robot; and a safe foot region set defined by the convex polygon is extracted through geometric feature analysis and plane segmentation. Then, collaborative planning of the trunk and the landing point is carried out in combination with a user instruction and the region set. In a control layer, a nonlinear model predictive control algorithm is adopted, a safety area is used as a hard constraint, and incomplete speed constraint is applied to a wheel type foot end, so that an optimized trunk track and a foot end force reference are output. The whole-body controller converts an upper-layer instruction into an accurate joint torque through a multi-task optimization framework with a weight. When instability is detected, the system can autonomously plan and execute a recovery action sequence including curling, controllable rolling and cooperative supporting.

The invention discloses a decoupling motion control method and system for a four-footed mobile operation robot considering the acting force of a mechanical arm, and belongs to the field of motion control of foot type mobile operation robots. An expected motion track input by a user can be tracked by performing planning through linear model prediction control MPC; on the basis of the tracked motion trail, mechanical arm joint control torque is calculated through a mechanical arm dynamic model and PD feedback; through nonlinear model predictive control NMPC planning, a quadruped robot whole-body motion trail of mechanical arm acting force obtained through calculation according to a mechanical arm dynamic model is considered, and an expected speed trail and an expected force trail input by a tracking user are obtained; and according to an expected speed trajectory and an expected force trajectory input by a tracking user, a whole body controller WBC based on hierarchical quadratic programming calculates a joint driving torque for tracking the expected trajectory according to task priorities. According to the method, the acting force / torque of the mechanical arm to the robot body is considered during motion control of the quadruped robot, and decoupling control over the mechanical arm and the quadruped robot in the quadruped mobile operation robot is achieved.

The embodiment of the invention provides a robot, an operation method and device of the robot, a storage medium and a program product. The method comprises the steps that sensing force data of a mechanical arm is received; the external force and the internal force are distributed based on the sensing force data of each mechanical arm in the at least two mechanical arms, so that the corresponding sensing external force and sensing internal force of each mechanical arm are determined; based on the sensing external force and the sensing internal force corresponding to each mechanical arm, the expected external force and the expected internal force of the target object and the expected position of the target object, calculating the force and the position so as to determine the expected position of each mechanical arm; and according to the expected position of each mechanical arm, inverse kinematics solution based on whole-body control is carried out on the robot, so that the joint positions of each mechanical arm and each joint in the waist are determined, and each mechanical arm is controlled to operate the target object based on the joint positions. According to the embodiment of the invention, a multi-arm force control framework based on whole-body control is constructed, the force control effect is good, and the operation stability of the robot can be improved.

The invention discloses an anti-resistance exercise training system for old people based on intelligent wearable equipment, and relates to the technical field. The problems that in the prior art, a dynamic action monitoring error correction mechanism is lacked, exercise intensity adjustment is not personalized and real-time, interaction and data feedback functions do not exist, and equipment portability and wearing adaptability are insufficient are solved. The system collects data in real time through the whole body position intelligent wearable device, corrects non-standard actions through the action recognition feedback module, dynamically regulates the intensity through the exercise intensity evaluation module, reduces the risks of muscle strain, cardiovascular burden and the like, takes standardized action guidance, personalized intensity adaptation and data visualization as the core, ensures target muscle activation, and improves the training efficiency. The training effect is quantified, the operation is simple, the use threshold is reduced through voice guidance, the boring feeling is relieved through personalized plans and summary reports, the training achievement feeling and compliance of the old people are enhanced, the muscle strength can be improved through whole body position training, and the anti-resistance exercise requirement of the old people is met.

Introduced here are pressure-mitigation systems able to mitigate the pressure applied to a human body by the surface of an object (also referred to as a “structure”). A controller device (or simply “controller”) can be fluidically coupled to a pressure-mitigation device that includes a series of selectively inflatable chambers. When a pressure-mitigation device is placed between a human body and a surface, the controller can continuously, intelligently, and autonomously circulate fluid through the chambers of the pressure-mitigation device. Normally, the controller circulates air through the chambers of the pressure-mitigation device, though the controller could circulate another fluid, such as water or gel, through the chambers of the pressure-mitigation device. The controller may cause the chambers to be selectively inflated, deflated, or any combination thereof.

The invention discloses a robot whole body control method and system based on real-time inertia motion capture and reinforcement learning, and belongs to the field of robot control. The system comprises a motion capture module, a data processing and forward kinematics module, a motion redirection and optimization module, a general motion strategy control module and a real-time control and driving module which are connected in sequence, and an end-to-end closed-loop control assembly line is formed through a shared memory and a high-speed communication protocol. According to the method, human body joint data are collected through inertia motion capture equipment, high-quality mapping from a human body posture to a robot model is achieved through posture calculation, non-uniform scaling and two-stage differential inverse kinematics optimization, and a stable joint instruction is generated in combination with a reinforcement learning strategy trained by a PPO algorithm. The method solves the problems of lack of feedback closed loop, joint deadlock, contradiction between fidelity and stability and the like in the prior art, has the characteristics of high robustness and high expansibility, and can be widely applied to scenes of remote operation, action reproduction and the like.

The invention discloses a multi-stage course assisted robot action learning method, and belongs to the technical field of robot motion control. The method solves the problems that an existing method is still difficult to achieve accurate control over the jumping distance and the landing point, the real-time performance is poor, and the generalization ability among various types of jumping targets is poor. And in combination with a staged reward shaping and whole body coordination guiding mechanism, the humanoid robot forms a stable angular momentum management and body coordination mode in each key stage, so that not only are the jumping performance and the drop point precision improved, but also the posture recovery capability and the anti-disturbance performance in a high-impact scene are remarkably enhanced. And two core technologies of torque control domain optimization and friction identification compensation are provided, so that the training strategy is subjected to dynamic constraint consistent with that of real hardware in a simulation stage. The real machine feasibility of the strategy is greatly improved by constructing a continuous derivable torque-angular velocity feasible region model and friction parameter identification based on an improved Stribeck model. The method can be applied to robot motion control.

The invention discloses an auxiliary rolling type asphalt paver which comprises an arranged crawler belt, a material receiving and discharging hopper is arranged on one side of the crawler belt, supporting seats are connected to the two sides of the material receiving and discharging hopper through bolt structures, supports are connected to the supporting seats through rotating shafts, and the lower portions of the supports are connected to storage boxes through shock absorbers. And a laser measuring instrument is connected to the interior of the storage box through a supporting box, and the laser measuring instrument is electrically connected with the console. According to the auxiliary rolling type asphalt paver, asphalt temporarily stored in the hopper is conveyed through the scraper conveyor at the bottom, it is guaranteed that the asphalt supply amount is matched with the paving speed, the whole paver is made of a high-temperature-resistant material, and the problem that the paving quality is reduced due to the fact that the arranged structure is affected by the high temperature of the asphalt is solved; the paving position and the paving width are detected in real time through the laser measuring instrument, dynamic monitoring and accurate control of the paving process are achieved, the laser measuring instrument is conveniently protected through the arranged storage box, and the service life of the laser measuring instrument is prolonged.

The invention relates to the technical field of massage armchairs based on multi-connecting-rod self-adaptive transmission, in particular to a massage armchair mechanical executing mechanism based on multi-connecting-rod self-adaptive transmission, which comprises a bottom plate, a seat frame, a backrest, an adjusting assembly, a massager and a massager, and is characterized in that the adjusting assembly is linked with a driving assembly through a first rotating rod and a second rotating rod; a hydraulic cylinder drives a sliding block to drive a toothed plate to move, then a second rotating rod is pulled through a third rotating rod and a connecting column, stepless adjustment of the angle of the backrest is achieved, an adjusting barrel of the massager can slide and rotate along a fixing base, an adjusting column flexibly stretches out and draws back under the action of a spring, and a massage ring can adjust the height and the angle in a self-adaptive mode along with changes of the angle of the backrest. The sleeve is in sliding fit with the sleeve rod, the transverse column guides the sliding block, the adjusting process is stable without blockage, the pause feeling of a traditional structure is avoided, the massager at the front end of the seat frame can massage the legs, linkage is formed with the massager on the backrest, and main relaxed parts of the whole body are covered.

An accessory mount, and more specifically to a phone mount that is configured to secure the phone to the mount with a whole-body trigger allowing for one-handed grip.

The invention belongs to the technical field of robot control, and discloses a foot-arm multi-task control method and system based on time-varying terminal cost, and the method comprises the steps: generating a whole-body reference trajectory of a robot offline, and pre-calculating a time-varying terminal cost matrix sequence based on the reference trajectory; based on the time-varying terminal cost matrix sequence, constructing and solving a nonlinear model predictive control optimization problem to obtain an optimization sequence of a system state and control input; and the optimization sequence serves as a reference instruction and is input into a layered whole-body controller for multi-task priority optimization, and a joint control instruction is generated and output to a robot execution mechanism. According to the method, the problem of short vision of a traditional NMPC in a long-time task is effectively relieved, and the operation precision of the robot is remarkably improved.

The invention discloses an air spring damping device with a vehicle body posture compensation function, and relates to the technical field of vehicle air spring damping. A piezoelectric ceramic stack main shaft assembly, an active variable stiffness spiral spring assembly arranged at the bottom of the piezoelectric ceramic stack main shaft assembly and a non-Newtonian fluid damping cavity assembly arranged at the bottom of the active variable stiffness spiral spring assembly are sequentially and coaxially arranged from inside to outside. The whole body is coordinated under the unified scheduling of a micro central controller, so that the piezoelectric stack outputs reverse-phase force to accurately counteract the impact, the spiral spring locks the number of turns through the actuating nut to realize the rigidity step improvement, and the non-Newtonian fluid instantaneously changes the viscosity through excitation to filter vibration. By means of formed synchronous cooperation, full-band road excitation is achieved, optimal composite compensation from high-frequency fine vibration to single large impact is achieved, and the contradiction between comfort and controllability is thoroughly solved.

The utility model provides a nested type grinding roller structure which comprises an assembling layer, a connecting layer and a grinding layer which are sequentially arranged in an annular nested mode from inside to outside, and concave-convex structures in the horizontal direction and the vertical direction are arranged on the outer surfaces of the assembling layer and the connecting layer respectively. The minimum inner diameter of the inner surface of the grinding layer is larger than the maximum inner diameter of the outer surface of the assembly layer. Cheap carbon steel is used in the inner layer, high-chromium alloy with high cost is used in the outer layer, and the problems of high cost, waste of raw materials and the like in the abrasion replacement process due to the fact that the whole body is cast by using the high-chromium alloy are solved; after the fixing of the assembly layer and the grinding layer is removed, the assembly layer can be taken out from the axial direction and replaced with a new grinding layer, so that a new assembly layer does not need to be cast again, the processing time of a new product is saved, the replacement efficiency is improved, and meanwhile, the cost is reduced to a certain extent by repeatedly using the assembly layer.

The utility model discloses a horizontal whole body health scanning device which comprises a limiting mechanism, the limiting mechanism comprises a shell, the rear side of an inner cavity of the shell is fixedly connected with a motor, the output end of the motor is fixedly connected with a lead screw, the surface of the lead screw is in threaded connection with a threaded sleeve, the top of the threaded sleeve is movably connected with a gear, and the gear is in threaded connection with the threaded sleeve. A first toothed plate is meshed with the left side of the gear, a first connecting frame is fixedly connected to the left side of the first toothed plate, a first inclined plate is slidably connected to one side of the first connecting frame, a fixing plate is fixedly connected to the bottom of the first inclined plate, and a vertical plate is fixedly connected to the top of the fixing plate. The horizontal whole-body health scanning device solves the problems that an existing traditional horizontal whole-body health scanning device does not have the auxiliary limiting function in the daily use process, some patients can move in the examination process, the examination precision is low, the examination result is affected, and the use requirement cannot be met.

The utility model belongs to the technical field of motor application, and particularly discloses a brake device for an integrated magnetism-assisting synchronous reluctance roller motor, which comprises a backstop outer circle body, limiting convex blocks, arc-shaped limiting convex teeth, a backstop inner circle body with a through groove, an outer check ring gasket, an inner check ring gasket, an outer elastic check ring, an inner elastic check ring and the like. The brake device for the integrated magnetism-assisting synchronous reluctance roller motor has the advantages that a one-way brake structure is integrally formed after assembly and used for being matched with a rotating shaft clamping groove in a rotating shaft rotating in the forward direction, the rotating shaft rotating in the reverse direction is automatically and reliably locked, reverse rotation or reverse rotation of equipment is prevented, and the service life of the equipment is prolonged; the occurrence of safety problems is completely eradicated; 2, the whole body adopts a split type design and is convenient to assemble, disassemble and maintain, and meanwhile, a one-way anti-reverse structure is adopted, so that reverse stopping movement is timely and stable;

The invention relates to the technical field of semiconductor material manufacturing, comprises an automatic adjusting assembly and an auxiliary adjusting assembly, and discloses an annealing device for silicon carbide wafer manufacturing. Current is input through the automatic adjusting assembly and the auxiliary adjusting assembly; the automatic adjusting assembly and the auxiliary adjusting assembly control the annealing position of the silicon carbide wafer to be adjusted, so that the whole silicon carbide wafer is uniformly annealed; stable working current is input through the automatic adjusting assembly and the auxiliary adjusting assembly, one side of the annealed silicon carbide wafer is controlled to be in an inclined state, workers can conveniently collect the silicon carbide wafer in the later period, and therefore the overall production efficiency of the silicon carbide wafer is further improved.

A multi-functional exercise device is disclosed for performing exercise programs using a single exercise device. The device can be easily reoriented to the desired direction for exercise via selectively extendable casters and wheels. The multi-functional exercise device may be equipped with storage locations to hold weights and other accessories together, providing the necessary weights and accessories for performing full-body exercise programs. An articulated frame assembly allows the padding assembly to be raised to either a partially tilted configuration or a fully tilted configuration. In the partially tilted configuration, a seated exercise device is provided. In the fully tilted configuration, the entire padding surface of the device can be tilted to the desired vertical orientation for performing other exercises using the device.

The application relates to the technical field of motion capture, and discloses a motion capture optimization method and system based on state machine control and a storage medium. The method comprises the following steps: mapping posture data to a foot static state; setting a state machine, and performing free integration on a root node; calculating a motion state and a foot angle, accumulating a state duration, and performing state detection based on the foot angle and the state duration if the static state; updating the state duration if the state does not change, and detecting whether a height change occurs on a contact plane; updating a reference height if the height changes; selecting an inverse kinematics method correction scheme based on the state machine: if single-foot landing occurs, correcting the height of the single foot to the reference height, and then performing position correction; if double-foot landing occurs, performing position correction by using a whole-body inverse kinematics method; and if double-foot landing does not occur, performing free integration on the root node, and updating a whole-body node, so that the accuracy of motion position restoration is improved in a motion capture process.

1. Name of the designed product: heating massager. 2. Use of the designed product: for whole body massage. 3. Design points of the designed product: in shape. 4. Picture or photo that best shows the design points: design 1 perspective view. 5. Design 1 is designated as the basic design.

The utility model discloses an ice cream egg cylinder supporting and fixing device, including the bottom plate of horizontal arrangement, the upper end surface both sides of bottom plate symmetry are provided with the vertical arrangement's support board, the bottom plate between two support boards evenly is provided with at least 2 can make egg cylinder sharp head end from top to bottom insert's egg cylinder support claw, the front or rear of egg cylinder support claw is provided with a horizontal arrangement's can left and right slide's swing rod, is provided with at least 2 with the connecting column of egg cylinder support claw cooperation use on the swing rod, is provided with the locating needle that can with the swing rod left and right slide insert or pull out egg cylinder support claw inside egg cylinder lower end side wall on the connecting column. The utility model has the advantages of: simple structure, convenient to use, egg cylinder is fixed firm, can conveniently realize egg cylinder whole body dips chocolate sauce.

The utility model relates to a digging-through device for a hemp conveying pipeline, which comprises an anchor cone head, a main accumulation rod and a rear shaft rod, a conical spiral guide blade is arranged outside the anchor cone head, the rear part of the anchor cone head is sequentially connected with the main accumulation rod and the rear shaft rod, cotton winding rods are uniformly distributed on the outer cylindrical surface of the main accumulation rod, and the cotton winding rods are arranged on the outer cylindrical surface of the main accumulation rod. A protection head is arranged at the tail end of the outer side of the cotton winding rod, wear-resisting columns are evenly arranged on the spherical surface of the protection head, a flexible shaft is connected to the rear portion of the rear shaft rod, a righting rod is arranged at the rear end of the flexible shaft, and a righting sleeve is arranged outside the righting rod. The guide blade with the conical spiral and the anchor cone head are conveyed into a pipeline blocking velvet and hemp in a rod-shaped connection mode, the conical anchor cone head and the spiral guide blade are rotated, the blocked velvet and hemp can be conveyed to the outer portion of the main accumulation rod in a rotating mode, and the velvet and hemp are stored through the cotton winding rod and the protection head. And finally, after the whole body is drawn out of the pipeline, the velvet and linen can be taken out in a portable mode, operation is easy, and convenience and practicability are achieved.

The invention relates to a robot control method and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the steps that in response to a task instruction, an expected pose of the tail end of a mechanical arm of the robot is obtained; taking an optimization target of driving a chassis of the robot to move towards a preset reference parking pose while driving the tail end of the mechanical arm to move towards the expected pose, and determining an intermediate state point sequence of the robot; planning a chassis moving path of the robot according to chassis poses in the intermediate state point sequence; and aiming at each chassis path point on the chassis moving path, searching a collision-free path section for enabling the tail end of the mechanical arm to move to a mechanical arm joint pose corresponding to the current chassis path point, and obtaining a target whole-body motion path for the robot to move to an expected pose. The efficiency and success rate of robot control can be improved.