Title:
HUMANOID ROBOT CONTROL METHOD, COMPUTER DEVICE, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2022/141268
Kind Code:
A1
Abstract:
The present application relates to a humanoid robot control method, comprising: mapping posture information corresponding to a human leg joint to humanoid robot leg joint servos, the leg joint servos comprising a non-target optimized joint servo and a target optimized joint servo, to obtain a desired rotation angle and a desired rotation angular velocity corresponding to the non-target optimized joint servo, and an expected rotation angle and an expected rotation angular velocity corresponding to the target optimized joint servo; constructing an optimization target function corresponding to the target optimized joint servo; on the basis of the optimization target function, optimizing the expected rotation angle and the expected rotation angular velocity of the target optimization joint servo to obtain a corrected expected rotation angle and a corrected expected rotation angular velocity corresponding to the target optimized joint servo; and on the basis of the expected rotation angle and the expected rotation angular velocity corresponding to the non-target optimized joint servo and the corrected expected rotation angle and the corrected expected rotation angular velocity corresponding to the target optimized joint servo, controlling each joint servo of the leg of the humanoid robot.
Inventors:
BAI JIE (CN)
GE LIGANG (CN)
LIU YIZHANG (CN)
XIONG YOUJUN (CN)
GE LIGANG (CN)
LIU YIZHANG (CN)
XIONG YOUJUN (CN)
Application Number:
PCT/CN2020/141705
Publication Date:
July 07, 2022
Filing Date:
December 30, 2020
Export Citation:
Assignee:
UBTECH ROBOTICS CORP LTD (CN)
International Classes:
G05B19/042
Foreign References:
| CN111176283A | 2020-05-19 | |||
| CN108858208A | 2018-11-23 | |||
| CN109987169A | 2019-07-09 | |||
| US20110178637A1 | 2011-07-21 |
Attorney, Agent or Firm:
SHENZHEN CIPRUN INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
Download PDF: