公开(公告)号：US20220203526A1

公开(公告)日：2022-06-30

申请号：US17504544

申请日：2021-10-19

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jie BAI ,  Ligang GE ,  Yizhang LIU ,  Youjun XIONG

IPC: B25J9/16 ,  B25J13/08

Abstract: A humanoid robot control method, a mobile machine using the same, and a computer readable storage medium are provided. The method includes: mapping posture information of leg joints of a human body to leg joint servos of a humanoid robot to obtain an expected rotation angle and an expected rotation angular velocity of non-target optimized joint servos of the leg joint servos and an expected rotation angle and an expected rotation angular velocity of target optimized joint servos of the leg joint servos; obtaining an optimization objective function corresponding to the target optimized joint servos of the leg joint servos; optimizing the expected rotation angle and the expected rotation angular velocity of the target optimized joint servos to obtain a corrected expected rotation angle and a corrected expected rotation angular velocity of the target optimized joint servos; and controlling each of the leg joint servos of the humanoid robot.