1295 results about "Whole body" patented technology

The invention belongs to the field of robot motion control, and discloses an online generation and control method and system for whole-body coordinated walking motion of a humanoid robot, a computer readable storage medium and a computer program product. According to the method, in walking motion generation, a whole-body walking motion track including upper body joint motion information is generated in real time by adopting a whole-body kinematics-centroid dynamics model; a model predictive control model is adopted to realize organic combination of motion trail generation and real-time tracking control; and solving the model prediction control model, and taking the optimal state x * and the corresponding control input u * as the input of whole body control. According to the method, in the planning stage, namely the whole-body walking motion trail including upper body joint motion information, the whole-body dynamic characteristics of the arms, the waist and the like are comprehensively considered, and a new method of long-time-domain trajectory optimization and online control is combined, so that real whole-body coordinated walking is fundamentally realized.

The invention provides a whole-body control method and device of a robot, a storage medium and the robot, and belongs to the technical field of humanoid robot control. The method comprises the following steps: training a basic whole body control model by using an AMASS data set; training a sub-control model corresponding to each motion type on the basis of the basic whole body control model by using the plurality of clustering sub-data sets; after the trained sub-control model is deployed to a control module of the robot, an execution track sequence of the robot is collected by controlling the robot to move; utilizing the collected execution track sequence to train an action increment model corresponding to the sub-control model so as to adjust the corresponding sub-control model; and fusing the adjusted sub-control models by using a knowledge distillation technology to obtain an optimized whole-body control model. According to the embodiment of the invention, a'general-expert-general 'training framework is provided and is used for learning a general whole-body control strategy, and the problem of interference among different motion types is effectively relieved.

The invention belongs to the technical field of robot control, and particularly relates to a self-adaptive whole-body control method suitable for a quadruped robot in an uncertain dynamic environment, and the method integrates an extended state observer (ESO), a model prediction controller (MPC) and a whole-body controller (WBC) based on hierarchical optimization. And a closed-loop control architecture is constructed to improve the robustness and motion coordination ability of the quadruped robot in a complex environment. Firstly, external disturbance is estimated and compensated in real time through ESO; then, the MPC optimizes future system behaviors in a rolling manner under the condition of considering interference terms, and an expected foot end counter-acting force is output; and finally, the WBC is combined with the priorities of the multiple tasks to generate all joint control instructions in a constraint optimization form, and task collaboration and dynamic adaptation are achieved. The method has the advantages of being high in disturbance self-adaptive capacity, high in control precision, suitable for a multi-task environment and the like, and is particularly suitable for quadruped robot control tasks in complex dynamic scenes such as transportation and search and rescue.

The invention discloses a novel modularized whole-body carrying system which comprises a trunk module and a lower limb module, the trunk module is used for supporting a trunk and comprises a plurality of rigid elements and elastic elements which are connected with one another, and the lower limb module is connected with the trunk module and comprises a plurality of rigid elements which are connected with one another and elastic elements with trend directions. The lower limbs are supported. According to the novel modularized whole-body carrying system, adaptive design is carried out on the multiple modules according to all characteristics in human body movement, modularized design is adopted, and rapid disassembly, installation and replacement can be achieved; the combination and matching can be realized as required to realize force transmission and load reduction, and the upper body can adapt to different movement actions, so that different tasks can be completed by combining and matching different accessories according to different carrying requirements, the structure is simple, external energy and control are not needed, and the device can adapt to complex and severe environments. And the energy storage structure is used for assisting the whole machine structure in force transmission and component, so that the assisting effect and stability are improved.

Belongs to the technical field of motion control of foot-type robots, and particularly relates to an anti-interference whole-body control method and system for a quadruped robot based on stability margin perception. The expected joint position, speed and foot end contact force are obtained through nonlinear model predictive control NMPC; a whole body controller WBC based on hierarchical quadratic programming calculates a joint driving torque according to the task priority; according to the joint position, the speed and the torque fed back by the driver and a robot dynamic model, estimating the foot end contact force; calculating resultant force which causes instability of the robot relative to each support polygon side line of the robot; projecting the resultant force, and calculating an included angle between the projection force and the vertical direction; calculating a compensation acceleration through a PI controller; and the compensation acceleration is used as a part of a fuselage linear acceleration task in the WBC, so that the anti-interference capability of the robot is improved. The method is used for solving the problems that in the prior art, the stable state of the quadruped robot cannot be effectively sensed, and an anti-interference control strategy cannot be rapidly generated according to the stable state.

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.

The invention discloses a wheel-legged robot whole-body motion control system and method considering slippage steering, and relates to the technical field of wheel-legged machine control. The system comprises an input module used for receiving an expected motion track or a motion instruction from an upper layer planning system; the trajectory optimization module takes the motion trajectory output by the input module as a tracking target, so that the platform can be optimized in real time along an offline trajectory; the tracking control module is used for solving a joint torque through inverse dynamics by adopting a total rigid body dynamic model, realizing motion tracking through a whole body control WBC method, and solving a motion and contact force priority task by using a hierarchical optimization method; and the state estimation module is used for estimating all current state quantities of model predictive control MPC and information required by whole body control WBC through sensor information. By means of the system, high-dynamic stable motion control over the wheel-legged robot under the complex terrain can be achieved.

The current invention provides a biocompatible energy recharge system to normalize body functions for a mammal. Both stationary and circulatory scalar wave energy was produced and utilized to enable the entire body of a mammal to increase the energy potential of any cell in the body, to promote cell growth, to facilitate cell repair, and to reduce cell destruction, hence the cells, organs, systems and the entire body of a mammal become healthy, and to treat a disease or disorder. The invention is a combination of the generators of the three-dimensional bio-waves in the stationary and in the circulationary formats for empowering the cells in all parts of a mammal, and a method of using the 3D bio-waves uniformly to empower each organ of a mammal to restore and maintain the normal body health and function.

The invention provides a massage control method, a massage chair and a controller applied to the massage chair, the massage chair at least comprises the controller, a massage chair main body, an image acquisition device and at least one massage arm.The method comprises the steps that if it is detected that a user sits stably, the image acquisition device is controlled to acquire a current image of the user; identifying a body model of the user according to the current image; and according to the body type model and the current massage mode, determining an action track sequence of each massage arm, and according to the action track sequence of each massage arm, controlling each massage arm to execute massage. The massage process can cover a wider massage area, the personalized massage path can be automatically generated according to the body shape of the user, the massage fitting degree and comfort degree are improved, the whole body surface of the user is massaged, meanwhile, the personalized adaptation capacity of the massage process is improved, and the user experience is improved. The massage experience of the user in the massage process is enhanced, and the personification of the massage process is improved.

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 provides a control method and device for an intelligent robot with a body, a terminal and a storage medium, and relates to the technical field of robot autonomous task planning and motion control. The method comprises the steps of collecting multi-mode prompt information of a to-be-controlled robot; based on a large-scale pre-training language model, multi-modal prompt information and an atomic skill library suitable for robot long-sequence whole-body linkage actions, generating a corresponding chain reasoning text when a to-be-controlled robot executes task description, and decomposing the task description into atomic skill calling sequences according to the chain reasoning text, the atomic skill calling sequence comprises a plurality of atomic skills according to a calling sequence; and after calling and activating the atomic skills one by one according to the calling sequence, controlling the to-be-controlled robot to execute the atomic skills according to the calling sequence. According to the invention, seamless connection of whole-body motion and local operation of the robot can be realized, so that the robot can efficiently complete a long-sequence task in a complex environment.

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 relates to a monocular video three-dimensional human body high-quality reconstruction method based on Gaussian splashing and normal perception, and belongs to the field of computer aided design, graphics and computer vision. The method comprises the following steps: firstly, based on a monocular video frame in an input three-dimensional human body data set, guiding posture deformation through a time sequence, and carrying out whole body correlation deformation on a standard space posture to obtain an observation space human body posture; secondly, through normal perception Gaussian optimization, adaptive Gaussian density control and human body normal mapping supervision are carried out on the human body posture in the observation space, and a human body model of Gaussian representation is obtained; then, carrying out human body shadow feature learning on the input human body normal map by adopting an illumination model to obtain human body shadow features; and finally, light and shadow enhancement human body rendering is performed on the Gaussian representation human body model in combination with the human body light and shadow features and human body color information input into the monocular video, a human body rendering effect is output, and the quality and reality sense of three-dimensional human body reconstruction of the monocular video are improved.

1. The name of this design product: red light therapy device. 2. Application of this product design: for whole body or local irradiation beauty treatment. 3. The key point of the design of this product lies in its shape. 4. The picture or photo that best illustrates the key points of the design: Design 1 Stereoscopic Drawing 1. 5. Designate Design 1 as the base design.

The invention relates to a torque control foot type robot with a rotatable waist and a control method of the torque control foot type robot. The control method comprises the following steps that an initial gait data set of the foot type robot is obtained; a simulation learning framework based on an asymmetric act-critic structure is constructed; performing iterative training on a strategy based on the simulation reward and the task reward by utilizing the simulation learning framework to obtain a gait data set after waist self-adaptive training; based on the gait data set after waist self-adaptive training, motor parameters and environment parameters of the foot type robot are trained through course learning, and a final gait data set is obtained; based on the final gait data set, the waist of the foot type robot is made to rotate by controlling the output torque of a waist motor, and whole-body control over the foot type robot is achieved. Compared with the prior art, the method has the advantages of low control complexity, high steering capability, good scene adaptability and the like.

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 relates to the technical field of rehabilitation instruments, in particular to a whole-body joint rehabilitation training device and a control method thereof. The method comprises the following steps: acquiring joint angles, IMU data and electromyographic signals when a user executes a plurality of standard actions; according to the joint angle, determining a joint motion range risk level of the target joint; according to the joint angle, the IMU data and the electromyographic signal, determining a compensatory behavior risk level and a cooperative efficiency score of a target joint; determining a training mode according to the risk level of the compensatory behavior, wherein the training mode at least comprises a general mode and a mode for the compensatory behavior; determining training parameters according to the joint motion range risk level, wherein the training parameters comprise resistance; adjusting the training parameters according to the collaborative efficiency score; and outputting the training mode and the adjusted training parameters. According to the method, the rehabilitation efficiency can be improved, and compensatory behaviors during training are reduced.

The utility model relates to the technical field of flywheel energy storage, and discloses a vacuum sealing electrode for flywheel energy storage, which comprises a conducting rod and an epoxy resin body arranged outside the conducting rod, a sealing ring is embedded in the left side surface of the epoxy resin body, and a plurality of through holes are formed in the upper surface of the epoxy resin body. Positioning bolts movably penetrate through the interiors of the multiple through holes; the whole body formed by the conducting rod and the epoxy resin body is small in resistance and high in sealing performance, and media inside and outside the electrode are isolated, so that the working current is large, the working voltage is high, and the long-time charging and discharging requirements of the flywheel are met; the epoxy resin body is cured outside the conducting rod, the conducting rod and the epoxy resin body form a whole with certain pressure resistance and sealing performance through the annular sealing groove in the surface of the rod body and the cohesiveness of epoxy resin glue, the sealing effect is good, and the cost is low. A rotation stopping section is processed on the rod body, so that leakage caused by relative rotation of the conducting rod and the epoxy resin body is prevented.

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 present invention discloses a rigid-flexible pneumatic component hybrid-driven robot joint system, belonging to the technical field of robots. The robot has the function of whole-body joint movement: three cylinders are connected in parallel to drive the movement of the waist joint. Multiple cylinders of the waist joint and the pneumatic muscles of the pelvis together drive the movement of the hip joint; the pneumatic motor and the pneumatic muscles in the form of antagonist muscles together drive the movement of the knee joint; four pneumatic muscles are connected in parallel to drive the movement of the ankle joint, and another two pneumatic muscles are connected to the lower end of the foot through the rear connecting shaft guide and drive the ankle joint together with the four pneumatic muscles of the ankle joint. A group of antagonist muscles in the wrist joint-elbow joint and the shoulder joint-elbow joint respectively drive the rotation of the elbow joint, and the pneumatic muscles in the form of two groups of antagonist muscles in the wrist joint-elbow joint and the wrist joint drive the movement of the wrist joint, and the pneumatic gripper has the function of clamping items. The present invention drives the joints by combining pneumatic components with mechanism, and has the characteristics of compact structure, strong adaptability and flexible working mode.

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 a system for treating chronic lumbago through the synergistic effect of massage and whole body vibration training. The system comprises a patient information registration and management module, a chronic pain evaluation module, a treatment effect evaluation module, a data analysis and feedback module, a vibration training control terminal and a massage treatment and guidance module. A patient is guided to complete standardized waist actions, pain scores under various postures are recorded, a main pain area is determined in combination with a Pareto analysis method, an average value and standard deviation model is constructed by using score data in multiple treatments, and normal distribution fitting and curative effect judgment of pain changes are further achieved. Massage and vibration training are linked through the system, data intercommunication is achieved, standardized, intelligent and personalized intervention in the treatment process is achieved, and the rehabilitation efficiency of the chronic lumbago patient is effectively improved. The system has the advantages of complete structure, scientific evaluation, accurate intervention and the like, and is suitable for popularization and application in the fields of rehabilitation medicine and clinical physical treatment.

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.

The invention discloses a compact mining whole-body power-assisted exoskeleton robot with an anti-explosion shell and a posture monitoring function, and relates to the technical field of operation robots, the compact mining whole-body power-assisted exoskeleton robot comprises a trunk wearing assembly, two driving upper limb assemblies, two driving lower limb assemblies, a flexible connecting frame and a posture detection assembly; the two upper limb driving assemblies are connected with the trunk wearing assembly, and shoulder supporting structures are installed at the positions, close to the trunk wearing assembly, of the two upper limb driving assemblies. The flexible connecting frame can be bent and deformed; the two driving lower limb assemblies are connected with the trunk wearing assembly through a flexible connecting frame; the upper limb driving assembly and the lower limb driving assembly can be quickly connected and matched; the driving upper limb assembly can also be quickly connected and matched with an external execution tool; the posture detection assembly is used for detecting motion postures of the upper limb driving assembly and the lower limb driving assembly. According to the exoskeleton robot, the stooping operation comfort can be improved, various kinds of work assistance can be achieved, and the adaptability is better.

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.