公开(公告)号：US20230166400A1

公开(公告)日：2023-06-01

申请号：US17994394

申请日：2022-11-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： XIANWEN ZENG ,  Yizhang LIU ,  Youjun XIONG

IPC: B25J9/16

CPC classification number: B25J9/163 ,  B25J9/1653 ,  B25J9/1664

Abstract: A robot control method, a robot, and a computer-readable storage medium are provided. The method includes: obtaining a linear motion model of a robot; determining a predicted state corresponding to each moment in a preset time period based on the linear motion model; determining an expected state corresponding to each moment in the preset time period; and determining a compensation value of a velocity of joint(s) at each moment from k-th moment to k+N−1-th moment based on the predicted state corresponding to each moment in the preset time period and the expected state corresponding to each moment in the preset time period, determining instruction parameter(s) at the k-th moment based on the compensation value of the velocity of the joint(s) at the k-th moment, and adjusting a position of each of the joint(s) of the robot according to the instruction parameter(s) at the k-th moment.

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.