公开(公告)号：US20220362929A1

公开(公告)日：2022-11-17

申请号：US17868790

申请日：2022-07-20

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yijie Guo ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16

Abstract: A decoupling control method for a humanoid robot includes: decomposing tasks of the humanoid robot to obtain kinematic tasks and dynamic tasks, and classifying corresponding joints of the humanoid robot into kinematic task joints or dynamic task joints; solving desired positions and desired speeds of the kinematic task joints for performing the kinematic tasks according to desired positions and desired speeds of ends in the kinematic tasks using inverse kinematics; calculating torques of the kinematic task joints based on the desired positions and desired speeds of the kinematic task joints; and solving a pre-built optimization model of torques required for the dynamic task joints based on the calculated torques of the kinematic task joints, to obtain torques required by the dynamic task joints for performing the dynamic tasks.

公开(公告)号：US12103177B2

公开(公告)日：2024-10-01

申请号：US17868790

申请日：2022-07-20

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yijie Guo ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/00 ,  B25J9/16

CPC classification number: B25J9/1607 ,  B25J9/1615 ,  B25J9/163 ,  B25J9/1638 ,  B25J9/1653

Abstract: A decoupling control method for a humanoid robot includes: decomposing tasks of the humanoid robot to obtain kinematic tasks and dynamic tasks, and classifying corresponding joints of the humanoid robot into kinematic task joints or dynamic task joints; solving desired positions and desired speeds of the kinematic task joints for performing the kinematic tasks according to desired positions and desired speeds of ends in the kinematic tasks using inverse kinematics; calculating torques of the kinematic task joints based on the desired positions and desired speeds of the kinematic task joints; and solving a pre-built optimization model of torques required for the dynamic task joints based on the calculated torques of the kinematic task joints, to obtain torques required by the dynamic task joints for performing the dynamic tasks.