if (!$mask) { file_put_contents($pathname, $message . "\n", FILE_APPEND);
file_put_contents - [internal], line ??
Cake\Log\Engine\FileLog::log() - CORE/src/Log/Engine/FileLog.php, line 140
Cake\Log\Log::write() - CORE/src/Log/Log.php, line 392
Cake\Log\Log::warning() - CORE/src/Log/Log.php, line 477
DebugKit\ToolbarService::isSuspiciouslyProduction() - ROOT/vendor/cakephp/debug_kit/src/ToolbarService.php, line 169
DebugKit\ToolbarService::isEnabled() - ROOT/vendor/cakephp/debug_kit/src/ToolbarService.php, line 105
DebugKit\Plugin::bootstrap() - ROOT/vendor/cakephp/debug_kit/src/Plugin.php, line 48
Cake\Http\BaseApplication::pluginBootstrap() - CORE/src/Http/BaseApplication.php, line 182
Cake\Http\Server::bootstrap() - CORE/src/Http/Server.php, line 111
Cake\Http\Server::run() - CORE/src/Http/Server.php, line 79
[main] - ROOT/webroot/index.php, line 40
Notice: file_put_contents() [function.file-put-contents]: Write of 1108 bytes failed with errno=28 No space left on device in /www/wwwroot/www.adminso.com/vendor/cakephp/cakephp/src/Log/Engine/FileLog.php on line 140
Notice (8): SplFileObject::fwrite() [<a href='https://secure.php.net/splfileobject.fwrite'>splfileobject.fwrite</a>]: Write of 284 bytes failed with errno=28 No space left on device [CORE/src/Cache/Engine/FileEngine.php, line 141]
SplFileObject::fwrite() - [internal], line ??
Cake\Cache\Engine\FileEngine::set() - CORE/src/Cache/Engine/FileEngine.php, line 141
Cake\I18n\TranslatorRegistry::get() - CORE/src/I18n/TranslatorRegistry.php, line 206
Cake\I18n\I18n::getTranslator() - CORE/src/I18n/I18n.php, line 148
__ - CORE/src/I18n/functions.php, line 45
App\Controller\NewsController::view() - APP/Controller/NewsController.php, line 3420
Cake\Controller\Controller::invokeAction() - CORE/src/Controller/Controller.php, line 539
Cake\Controller\ControllerFactory::handle() - CORE/src/Controller/ControllerFactory.php, line 140
Cake\Controller\ControllerFactory::invoke() - CORE/src/Controller/ControllerFactory.php, line 115
Cake\Http\BaseApplication::handle() - CORE/src/Http/BaseApplication.php, line 317
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 77
Cake\Http\Middleware\CsrfProtectionMiddleware::process() - CORE/src/Http/Middleware/CsrfProtectionMiddleware.php, line 164
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\I18n\Middleware\LocaleSelectorMiddleware::process() - CORE/src/I18n/Middleware/LocaleSelectorMiddleware.php, line 61
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Http\Middleware\BodyParserMiddleware::process() - CORE/src/Http/Middleware/BodyParserMiddleware.php, line 157
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Notice: file_put_contents() [function.file-put-contents]: Write of 2558 bytes failed with errno=28 No space left on device in /www/wwwroot/www.adminso.com/vendor/cakephp/cakephp/src/Log/Engine/FileLog.php on line 140
Notice (8): unserialize() [<a href='https://secure.php.net/function.unserialize'>function.unserialize</a>]: Error at offset 8170 of 8181 bytes [APP/Controller/NewsController.php, line 5571]
unserialize - [internal], line ??
App\Controller\NewsController::action_cache() - APP/Controller/NewsController.php, line 5571
App\Controller\NewsController::cache_action() - APP/Controller/NewsController.php, line 5281
App\Controller\NewsController::action_() - APP/Controller/NewsController.php, line 6481
App\Controller\NewsController::get_data() - APP/Controller/NewsController.php, line 5701
App\Controller\NewsController::action_cache() - APP/Controller/NewsController.php, line 5625
App\Controller\NewsController::cache_action() - APP/Controller/NewsController.php, line 5281
App\Controller\NewsController::view() - APP/Controller/NewsController.php, line 3436
Cake\Controller\Controller::invokeAction() - CORE/src/Controller/Controller.php, line 539
Cake\Controller\ControllerFactory::handle() - CORE/src/Controller/ControllerFactory.php, line 140
Cake\Controller\ControllerFactory::invoke() - CORE/src/Controller/ControllerFactory.php, line 115
Cake\Http\BaseApplication::handle() - CORE/src/Http/BaseApplication.php, line 317
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 77
Cake\Http\Middleware\CsrfProtectionMiddleware::process() - CORE/src/Http/Middleware/CsrfProtectionMiddleware.php, line 164
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\I18n\Middleware\LocaleSelectorMiddleware::process() - CORE/src/I18n/Middleware/LocaleSelectorMiddleware.php, line 61
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Notice: file_put_contents() [function.file-put-contents]: Write of 2757 bytes failed with errno=28 No space left on device in /www/wwwroot/www.adminso.com/vendor/cakephp/cakephp/src/Log/Engine/FileLog.php on line 140
Warning (2): Undefined array key "nsort" [APP/Controller/NewsController.php, line 3613]
App\Controller\NewsController::view() - APP/Controller/NewsController.php, line 3613
Cake\Controller\Controller::invokeAction() - CORE/src/Controller/Controller.php, line 539
Cake\Controller\ControllerFactory::handle() - CORE/src/Controller/ControllerFactory.php, line 140
Cake\Controller\ControllerFactory::invoke() - CORE/src/Controller/ControllerFactory.php, line 115
Cake\Http\BaseApplication::handle() - CORE/src/Http/BaseApplication.php, line 317
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 77
Cake\Http\Middleware\CsrfProtectionMiddleware::process() - CORE/src/Http/Middleware/CsrfProtectionMiddleware.php, line 164
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\I18n\Middleware\LocaleSelectorMiddleware::process() - CORE/src/I18n/Middleware/LocaleSelectorMiddleware.php, line 61
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Http\Middleware\BodyParserMiddleware::process() - CORE/src/Http/Middleware/BodyParserMiddleware.php, line 157
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Routing\Middleware\RoutingMiddleware::process() - CORE/src/Routing/Middleware/RoutingMiddleware.php, line 161
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Routing\Middleware\AssetMiddleware::process() - CORE/src/Routing/Middleware/AssetMiddleware.php, line 77
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Error\Middleware\ErrorHandlerMiddleware::process() - CORE/src/Error/Middleware/ErrorHandlerMiddleware.php, line 126
Notice: file_put_contents() [function.file-put-contents]: Write of 2073 bytes failed with errno=28 No space left on device in /www/wwwroot/www.adminso.com/vendor/cakephp/cakephp/src/Log/Engine/FileLog.php on line 140
Warning (2): Trying to access array offset on value of type null [APP/Controller/NewsController.php, line 3613]
App\Controller\NewsController::view() - APP/Controller/NewsController.php, line 3613
Cake\Controller\Controller::invokeAction() - CORE/src/Controller/Controller.php, line 539
Cake\Controller\ControllerFactory::handle() - CORE/src/Controller/ControllerFactory.php, line 140
Cake\Controller\ControllerFactory::invoke() - CORE/src/Controller/ControllerFactory.php, line 115
Cake\Http\BaseApplication::handle() - CORE/src/Http/BaseApplication.php, line 317
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 77
Cake\Http\Middleware\CsrfProtectionMiddleware::process() - CORE/src/Http/Middleware/CsrfProtectionMiddleware.php, line 164
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\I18n\Middleware\LocaleSelectorMiddleware::process() - CORE/src/I18n/Middleware/LocaleSelectorMiddleware.php, line 61
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Http\Middleware\BodyParserMiddleware::process() - CORE/src/Http/Middleware/BodyParserMiddleware.php, line 157
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Routing\Middleware\RoutingMiddleware::process() - CORE/src/Routing/Middleware/RoutingMiddleware.php, line 161
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Routing\Middleware\AssetMiddleware::process() - CORE/src/Routing/Middleware/AssetMiddleware.php, line 77
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Error\Middleware\ErrorHandlerMiddleware::process() - CORE/src/Error/Middleware/ErrorHandlerMiddleware.php, line 126
Notice: file_put_contents() [function.file-put-contents]: Write of 2097 bytes failed with errno=28 No space left on device in /www/wwwroot/www.adminso.com/vendor/cakephp/cakephp/src/Log/Engine/FileLog.php on line 140
Warning (2): Undefined array key "nsort" [APP/Controller/NewsController.php, line 3613]
App\Controller\NewsController::view() - APP/Controller/NewsController.php, line 3613
Cake\Controller\Controller::invokeAction() - CORE/src/Controller/Controller.php, line 539
Cake\Controller\ControllerFactory::handle() - CORE/src/Controller/ControllerFactory.php, line 140
Cake\Controller\ControllerFactory::invoke() - CORE/src/Controller/ControllerFactory.php, line 115
Cake\Http\BaseApplication::handle() - CORE/src/Http/BaseApplication.php, line 317
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 77
Cake\Http\Middleware\CsrfProtectionMiddleware::process() - CORE/src/Http/Middleware/CsrfProtectionMiddleware.php, line 164
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\I18n\Middleware\LocaleSelectorMiddleware::process() - CORE/src/I18n/Middleware/LocaleSelectorMiddleware.php, line 61
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Http\Middleware\BodyParserMiddleware::process() - CORE/src/Http/Middleware/BodyParserMiddleware.php, line 157
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Routing\Middleware\RoutingMiddleware::process() - CORE/src/Routing/Middleware/RoutingMiddleware.php, line 161
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Routing\Middleware\AssetMiddleware::process() - CORE/src/Routing/Middleware/AssetMiddleware.php, line 77
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Error\Middleware\ErrorHandlerMiddleware::process() - CORE/src/Error/Middleware/ErrorHandlerMiddleware.php, line 126
Notice: file_put_contents() [function.file-put-contents]: Write of 2073 bytes failed with errno=28 No space left on device in /www/wwwroot/www.adminso.com/vendor/cakephp/cakephp/src/Log/Engine/FileLog.php on line 140
Warning (2): Trying to access array offset on value of type null [APP/Controller/NewsController.php, line 3613]
App\Controller\NewsController::view() - APP/Controller/NewsController.php, line 3613
Cake\Controller\Controller::invokeAction() - CORE/src/Controller/Controller.php, line 539
Cake\Controller\ControllerFactory::handle() - CORE/src/Controller/ControllerFactory.php, line 140
Cake\Controller\ControllerFactory::invoke() - CORE/src/Controller/ControllerFactory.php, line 115
Cake\Http\BaseApplication::handle() - CORE/src/Http/BaseApplication.php, line 317
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 77
Cake\Http\Middleware\CsrfProtectionMiddleware::process() - CORE/src/Http/Middleware/CsrfProtectionMiddleware.php, line 164
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\I18n\Middleware\LocaleSelectorMiddleware::process() - CORE/src/I18n/Middleware/LocaleSelectorMiddleware.php, line 61
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Http\Middleware\BodyParserMiddleware::process() - CORE/src/Http/Middleware/BodyParserMiddleware.php, line 157
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Routing\Middleware\RoutingMiddleware::process() - CORE/src/Routing/Middleware/RoutingMiddleware.php, line 161
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Routing\Middleware\AssetMiddleware::process() - CORE/src/Routing/Middleware/AssetMiddleware.php, line 77
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Error\Middleware\ErrorHandlerMiddleware::process() - CORE/src/Error/Middleware/ErrorHandlerMiddleware.php, line 126
Notice: file_put_contents() [function.file-put-contents]: Write of 2097 bytes failed with errno=28 No space left on device in /www/wwwroot/www.adminso.com/vendor/cakephp/cakephp/src/Log/Engine/FileLog.php on line 140 腾讯:这可是一只“骨骼清奇”的狗 - 站长搜索
include - ROOT/plugins/Kuhuang/templates/Websites/view.php, line 430
Cake\View\View::_evaluate() - CORE/src/View/View.php, line 1184
Cake\View\View::_render() - CORE/src/View/View.php, line 1138
Cake\View\View::render() - CORE/src/View/View.php, line 769
Cake\Controller\Controller::render() - CORE/src/Controller/Controller.php, line 762
App\Controller\NewsController::view() - APP/Controller/NewsController.php, line 3938
Cake\Controller\Controller::invokeAction() - CORE/src/Controller/Controller.php, line 539
Cake\Controller\ControllerFactory::handle() - CORE/src/Controller/ControllerFactory.php, line 140
Cake\Controller\ControllerFactory::invoke() - CORE/src/Controller/ControllerFactory.php, line 115
Cake\Http\BaseApplication::handle() - CORE/src/Http/BaseApplication.php, line 317
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 77
Cake\Http\Middleware\CsrfProtectionMiddleware::process() - CORE/src/Http/Middleware/CsrfProtectionMiddleware.php, line 164
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\I18n\Middleware\LocaleSelectorMiddleware::process() - CORE/src/I18n/Middleware/LocaleSelectorMiddleware.php, line 61
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Http\Middleware\BodyParserMiddleware::process() - CORE/src/Http/Middleware/BodyParserMiddleware.php, line 157
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Notice: file_put_contents() [function.file-put-contents]: Write of 2421 bytes failed with errno=28 No space left on device in /www/wwwroot/www.adminso.com/vendor/cakephp/cakephp/src/Log/Engine/FileLog.php on line 140
Warning (2): Trying to access array offset on value of type null [ROOT/plugins/Kuhuang/templates/Websites/view.php, line 430]
include - ROOT/plugins/Kuhuang/templates/Websites/view.php, line 430
Cake\View\View::_evaluate() - CORE/src/View/View.php, line 1184
Cake\View\View::_render() - CORE/src/View/View.php, line 1138
Cake\View\View::render() - CORE/src/View/View.php, line 769
Cake\Controller\Controller::render() - CORE/src/Controller/Controller.php, line 762
App\Controller\NewsController::view() - APP/Controller/NewsController.php, line 3938
Cake\Controller\Controller::invokeAction() - CORE/src/Controller/Controller.php, line 539
Cake\Controller\ControllerFactory::handle() - CORE/src/Controller/ControllerFactory.php, line 140
Cake\Controller\ControllerFactory::invoke() - CORE/src/Controller/ControllerFactory.php, line 115
Cake\Http\BaseApplication::handle() - CORE/src/Http/BaseApplication.php, line 317
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 77
Cake\Http\Middleware\CsrfProtectionMiddleware::process() - CORE/src/Http/Middleware/CsrfProtectionMiddleware.php, line 164
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\I18n\Middleware\LocaleSelectorMiddleware::process() - CORE/src/I18n/Middleware/LocaleSelectorMiddleware.php, line 61
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Http\Middleware\BodyParserMiddleware::process() - CORE/src/Http/Middleware/BodyParserMiddleware.php, line 157
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Notice: file_put_contents() [function.file-put-contents]: Write of 2445 bytes failed with errno=28 No space left on device in /www/wwwroot/www.adminso.com/vendor/cakephp/cakephp/src/Log/Engine/FileLog.php on line 140
">
Warning (2): Undefined array key "nsort" [ROOT/plugins/Kuhuang/templates/Websites/view.php, line 430]
include - ROOT/plugins/Kuhuang/templates/Websites/view.php, line 430
Cake\View\View::_evaluate() - CORE/src/View/View.php, line 1184
Cake\View\View::_render() - CORE/src/View/View.php, line 1138
Cake\View\View::render() - CORE/src/View/View.php, line 769
Cake\Controller\Controller::render() - CORE/src/Controller/Controller.php, line 762
App\Controller\NewsController::view() - APP/Controller/NewsController.php, line 3938
Cake\Controller\Controller::invokeAction() - CORE/src/Controller/Controller.php, line 539
Cake\Controller\ControllerFactory::handle() - CORE/src/Controller/ControllerFactory.php, line 140
Cake\Controller\ControllerFactory::invoke() - CORE/src/Controller/ControllerFactory.php, line 115
Cake\Http\BaseApplication::handle() - CORE/src/Http/BaseApplication.php, line 317
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 77
Cake\Http\Middleware\CsrfProtectionMiddleware::process() - CORE/src/Http/Middleware/CsrfProtectionMiddleware.php, line 164
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\I18n\Middleware\LocaleSelectorMiddleware::process() - CORE/src/I18n/Middleware/LocaleSelectorMiddleware.php, line 61
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Http\Middleware\BodyParserMiddleware::process() - CORE/src/Http/Middleware/BodyParserMiddleware.php, line 157
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Notice: file_put_contents() [function.file-put-contents]: Write of 2421 bytes failed with errno=28 No space left on device in /www/wwwroot/www.adminso.com/vendor/cakephp/cakephp/src/Log/Engine/FileLog.php on line 140
Warning (2): Trying to access array offset on value of type null [ROOT/plugins/Kuhuang/templates/Websites/view.php, line 430]
include - ROOT/plugins/Kuhuang/templates/Websites/view.php, line 430
Cake\View\View::_evaluate() - CORE/src/View/View.php, line 1184
Cake\View\View::_render() - CORE/src/View/View.php, line 1138
Cake\View\View::render() - CORE/src/View/View.php, line 769
Cake\Controller\Controller::render() - CORE/src/Controller/Controller.php, line 762
App\Controller\NewsController::view() - APP/Controller/NewsController.php, line 3938
Cake\Controller\Controller::invokeAction() - CORE/src/Controller/Controller.php, line 539
Cake\Controller\ControllerFactory::handle() - CORE/src/Controller/ControllerFactory.php, line 140
Cake\Controller\ControllerFactory::invoke() - CORE/src/Controller/ControllerFactory.php, line 115
Cake\Http\BaseApplication::handle() - CORE/src/Http/BaseApplication.php, line 317
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 77
Cake\Http\Middleware\CsrfProtectionMiddleware::process() - CORE/src/Http/Middleware/CsrfProtectionMiddleware.php, line 164
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\I18n\Middleware\LocaleSelectorMiddleware::process() - CORE/src/I18n/Middleware/LocaleSelectorMiddleware.php, line 61
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Cake\Http\Middleware\BodyParserMiddleware::process() - CORE/src/Http/Middleware/BodyParserMiddleware.php, line 157
Cake\Http\Runner::handle() - CORE/src/Http/Runner.php, line 73
Notice: file_put_contents() [function.file-put-contents]: Write of 2445 bytes failed with errno=28 No space left on device in /www/wwwroot/www.adminso.com/vendor/cakephp/cakephp/src/Log/Engine/FileLog.php on line 140 2021-03-06 12:44:42转载来源: CSDN
足轮融合方案的关键点在机器狗 Max 的膝关节,这个关节点连接了用以滚动行走的轮子和步行前进的“脚”,在面对不同的环境时,可以切换为不同的形态模式。“小腿”伸展时可用四肢行走,“小腿”向内弯折便可以用轮子快速前进。在崎岖地面上,足式行走保证机器狗的平稳性,而在平坦路面切换为轮式,则可以达到25km/h的前进速度。
敏锐的神经系统
机器狗 Max 依托腾讯自研的软硬件系统框架,实现了亚毫秒级力控,平均计算耗时小于 0.3ms,大大降低了软硬件系统延迟,令机器狗的反应速度更快。
Max 综合了 NLMPC(Nonlinear Model Predictive Control,非线性模型预测控制)算法、QP(Quadratic Programming)优化、柔顺控制算法,完成了从趴地状态到双轮站立的起摆、平衡抗扰、落地收腿控制。
另外,机器狗Max还延续了“大狗狗”Jamoca(2020年11月20日,腾讯发布的四足移动机器狗)的鲁棒控制算法。这一算法让 Max 拥有发达的“小脑”和优秀的平衡能力,实现从四足到双足的站立、移动,能完成后空翻、摔倒自恢复等高难度动作,在移动稳定性和移动速度上达到了良好的兼容,即使遭受高强度的冲击导致摔倒,也能自行恢复正常运行状态。
在腾讯发布的视频中,为了展示机器狗的性能,工作人员为其设置了“铁狗五项”挑战,包括“障碍跨越”“低位过杆”“跳高”“载物高速前进”“平稳性测试”。在这些比拼中,机器狗 Max 灵活机动地调节行进模式、速度、高度,并且在面对正面冲击时依然保持平衡,展示了非凡的运动天赋。