Abstract: This paper presents a novel framework for whole-body torque control of humanoid robots without joint torque sensors, designed for systems with electric motors and high-ratio harmonic drives.

Subsequently, a particle swarm-optimized random forest model (PSO-RF) was established to identify laminated and layered shales. Finally, a SHAP method was employed to provide a comprehensive ...

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a standalone toolkit supporting AES, SM4 encryption, RSA, SM2 encryption/sign/verify, hash,SM3 algorithms, encoding, and password generation—all offline and secure. 这是一个支持AES、SM4加密，RSA、SM2 ...