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1. 发明公开

EP4053002A1 BIONIC MACHINE FOOT DEVICE, BIONIC MACHINE AND CONTROL METHOD THEREOF 审中-实审
公开(公告)号：EP4053002A1
公开(公告)日：2022-09-07
申请号：EP21890575.0
申请日：2021-05-12
申请人： Tencent Technology (Shenzhen) Company Limited
发明人： XIONG, Kun , DAI, Yuan , ZHANG, Dongsheng , CHEN, Xiangyu , YANG, Sicheng , ZHANG, Zhengyou
IPC分类号： B62D57/032 , G05D1/08
摘要： This application, relating to the field of bionic machine technologies, provides a foot device of a bionic machine and a bionic machine, which are used to reduce design costs and processing complexity. The foot device includes a foot body, a pressure sensor, and a distance sensor; the pressure sensor is connected to the foot body, and is configured to detect a pressure between a bottom end surface and the ground; the distance sensor is located on the bottom end surface of the foot body, is connected to the foot body, and is configured to detect a distance between the bottom end surface and the ground. When the bionic machine moves, the distance sensor transmits a distance detection signal indicating a distance between a sole component and the ground to a control device of the bionic machine, and the pressure sensor transmits a pressure detection signal indicating a contact pressure between the sole component and the ground to the control device.

2. 发明公开

EP4119427A1 MECHANICAL LEG AND WHEELED MOBILE DEVICE 审中-实审
公开(公告)号：EP4119427A1
公开(公告)日：2023-01-18
申请号：EP21855244.6
申请日：2021-06-23
申请人： Tencent Technology (Shenzhen) Company Limited
发明人： LAI, Jie , ZHANG, Dongsheng , WANG, Shuai , CHEN, Ke , YANG, Sicheng , ZHANG, Zhengyou
IPC分类号： B62D57/028
摘要： A mechanical leg and a wheeled mobile device, pertaining to the field of smart wheeled mobile devices. The mechanical leg comprises a frame (1), a retractable member (2), wheels (3), an extension/retraction driving member (4), a travel driving member (5), an auxiliary leg (6), and an auxiliary wheel (7). The extension/retraction driving member (4) is located on a side portion of the frame (1). The retractable member (2) is connected to the extension/retraction driving member (4). The wheel (3) is connected to the retractable member (2). The wheel (3) is further connected to the travel driving member (5). A first end of the auxiliary leg (6) is connected to the auxiliary wheel (7). A second end of the auxiliary leg (6) is located on the frame (1). The retractable member (2) extends or retracts under a driving action of the extension/retraction driving member (4) so as to drive the wheel (3) to jump. The wheel (3) moves under a driving action of the travel driving member (5). When the auxiliary wheel (7) contacts the ground, the mechanical leg moves under a rolling action of the wheels (3) and the auxiliary wheel (7). The mechanical leg can move quickly on flat ground, and when encountering an obstacle, the mechanical leg can also jump passed the obstacle, thereby improving the traveling performance of the mechanical leg.

3. 发明公开

EP4261625A1 ROBOT MOTION CONTROL METHOD AND APPARATUS, AND ROBOT AND STORAGE MEDIUM 审中-实审
公开(公告)号：EP4261625A1
公开(公告)日：2023-10-18
申请号：EP22745172.1
申请日：2022-01-24
申请人： Tencent Technology (Shenzhen) Company Limited
发明人： ZHOU, Qinqin , CHEN, Xiangyu , ZHENG, Yu , XU, Liangwei , YANG, Sicheng , XIONG, Kun
IPC分类号： G05B13/04
摘要： This application discloses a robot motion control method and apparatus, a robot, and a storage medium, and relates to the field of robot control technologies of artificial intelligence technologies. The method includes: acquiring a center-of-mass reference trajectory used for guiding the robot to execute a target motion; obtaining, by optimizing an objective function, center-of-mass control information for controlling the robot to move while following the center-of-mass reference trajectory; generating joint control information according to the center-of-mass control information and structure information of the robot; and controlling the robot using the joint control information.

4. 发明公开

EP4039567A1 WHEEL-LEG DUAL-MODE MECHANICAL LEG AND ROBOT 审中-实审
公开(公告)号：EP4039567A1
公开(公告)日：2022-08-10
申请号：EP21838701.7
申请日：2021-05-13
申请人： Tencent Technology (Shenzhen) Company Limited
发明人： ZHANG, Dongsheng , XIONG, Kun , CHEN, Xiangyu , YANG, Sicheng , ZHOU, Qinqin , XU, Liangwei , XU, Qiwei , CHI, Wanchao , LI, Xiong , ZHANG, Zhengyou
IPC分类号： B62D57/028 , B62D57/032
摘要： A wheel-leg dual-mode mechanical leg (14) and a robot (10). The robot (10) comprises a torso portion (12) and n mechanical legs (14) connected to the torso portion (12). The mechanical leg (14) comprises a thigh unit (2) and a shank unit (3). Ajoint end (202) of the thigh unit (2) and a joint end (301) of the shank unit (3) are hinged by means of a rotary shaft (4). A traveling wheel (5) is fixed at the rotary shaft (4). When the robot is in a leg mode, the shank units (3) of the n mechanical legs (14) are fixedly connected to the rotary shafts (4). When the robot is in a wheel mode, the shank units (3) of at least two mechanical legs (14) are rotatably connected to the rotary shafts (4).

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