The present application discloses a self-powered sensing method and sensing device for spheroidal robot, which belongs to the technical field of robot attitude sensing. The design feature is structure of the spheroidal robot, comprises: a spheroidal object (1) and 26 electrode groups (2); the spheroidal object (1) includes 18 regular octagonal surfaces, 8 regular hexagonal surfaces and 24 quadrilateral surfaces; the electrode group (2) is arranged on each regular octagonal surface and each regular hexagonal surface; the electrode group (2) includes a first outer layer semicircular ring electrode (2-1), a second outer layer semicircular ring electrode (2-2) and an inner ring electrode (2-3). The present invention aims to provide a self-powered sensing method and sensing device for spheroidal robot to sense the posture of the spheroidal robot.

The present application discloses a self-powered sensing method and sensing device for spheroidal robot, which belongs to the technical field of robot attitude sensing. The design feature is structure of the spheroidal robot, comprises: a spheroidal object (1) and 26 electrode groups (2); the spheroidal object (1) includes 18 regular octagonal surfaces, 8 regular hexagonal surfaces and 24 quadrilateral surfaces; the electrode group (2) is arranged on each regular octagonal surface and each regular hexagonal surface; the electrode group (2) includes a first outer layer semicircular ring electrode (2-1), a second outer layer semicircular ring electrode (2-2) and an inner ring electrode (2-3). The present invention aims to provide a self-powered sensing method and sensing device for spheroidal robot to sense the posture of the spheroidal robot.

A rebar tying system including a chassis with a central opening that passes from top to bottom of the chassis, a plurality of driven wheels coupled to the chassis and configured to propel the rebar tying system bidirectionally over a rebar mat, a plurality of foot members coupled to the chassis and configured to selectively move the rebar tying system in a lateral direction relative the bidirectional wheel propelled movement, and a rebar tying gun configured to be selectively positionable both horizontally and vertically in the central opening to perform rebar tying operations.

A robot balance control method includes: obtaining force information associated with a left foot and a right foot of the robot; calculating a zero moment point of a center of mass (COM) of a body of the robot based on the force information; calculating a first position offset and a second position offset of the robot according to the zero moment point of the COM of the body; updating a position trajectory of the robot according to the first position offset and the second offset to obtain an updated position of the COM of the body; performing inverse kinematics analysis on the updated position of the COM of the body to obtain joint angles of the left leg and the right leg of the robot; and controlling the robot to move according to the joint angles.

A robot balance control method includes: obtaining force information associated with a left foot and a right foot of the robot; calculating a zero moment point of a center of mass (COM) of a body of the robot based on the force information; calculating a first position offset and a second position offset of the robot according to the zero moment point of the COM of the body; updating a position trajectory of the robot according to the first position offset and the second offset to obtain an updated position of the COM of the body; performing inverse kinematics analysis on the updated position of the COM of the body to obtain joint angles of the left leg and the right leg of the robot; and controlling the robot to move according to the joint angles.

A method for perception and fitting for a stair tracker includes receiving sensor data for a robot adjacent to a staircase. For each stair of the staircase, the method includes detecting, at a first time step, an edge of a respective stair of the staircase based on the sensor data. The method also includes determining whether the detected edge is a most likely step edge candidate by comparing the detected edge from the first time step to an alternative detected edge at a second time step, the second time step occurring after the first time step. When the detected edge is the most likely step edge candidate, the method includes defining, by the data processing hardware, a height of the respective stair based on sensor data height about the detected edge. The method also includes generating a staircase model including stairs with respective edges at the respective defined heights.

A method for perception and fitting for a stair tracker includes receiving sensor data for a robot adjacent to a staircase. For each stair of the staircase, the method includes detecting, at a first time step, an edge of a respective stair of the staircase based on the sensor data. The method also includes determining whether the detected edge is a most likely step edge candidate by comparing the detected edge from the first time step to an alternative detected edge at a second time step, the second time step occurring after the first time step. When the detected edge is the most likely step edge candidate, the method includes defining, by the data processing hardware, a height of the respective stair based on sensor data height about the detected edge. The method also includes generating a staircase model including stairs with respective edges at the respective defined heights.

The present disclosure provides a humanoid robot and its control method and computer readable storage medium. The method includes: obtaining a current torque of a sole of the humanoid robot, an inclination angle of the sole, an inclination angle of a first joint of the humanoid robot, and an inclination angle of a second joint of the humanoid robot; calculating current feedforward angular velocities of motors of the first and second joints through the obtained information; calculating feedback angular velocities of the motors of the first and second joints; and obtaining inclination angles of the joints based on the feedforward angular velocities of the motors and the feedback angular velocities of the motors, and performing, through the motor of the second joint, a deviation control on the joints according to the inclination angles of the joints.

The present disclosure provides a humanoid robot and its control method and computer readable storage medium. The method includes: obtaining a current torque of a sole of the humanoid robot, an inclination angle of the sole, an inclination angle of a first joint of the humanoid robot, and an inclination angle of a second joint of the humanoid robot; calculating current feedforward angular velocities of motors of the first and second joints through the obtained information; calculating feedback angular velocities of the motors of the first and second joints; and obtaining inclination angles of the joints based on the feedforward angular velocities of the motors and the feedback angular velocities of the motors, and performing, through the motor of the second joint, a deviation control on the joints according to the inclination angles of the joints.

The invention relates to a composite motion robot based on springtail movement mechanism, which includes a body, a jumping mechanism, a balance wheel and a control module. The body includes a right pallet, a U-shaped frame, a curved slide, a casing, a fixing plate, a left pallet and a pin block; the control module is installed on the body. Based on springtail jumping motion mechanism and by setting the jumping mechanism and the balance wheel, the invention enables the robot to have capability of movement, such as jumping over obstacles, balance wheeled translation, flipping posture reset, and self-balance resetting which is otherwise difficult to be achieved by traditional balancing carts, etc.