Patent ID: 11872701
Assignee: UBTECH ROBOTICS CORP LTD
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 1:
2. The method of claim 1, wherein the motion state of each real joint further comprises an acceleration of each real joint, the motion state of each virtual joint further comprises an acceleration of each virtual joint, and the total centroid state of the humanoid robot further comprises a total centroid acceleration; and the method further comprises:
calculating, by the processor, a linear velocity at the joint position of each of the k links and an angular velocity at the centroid position of the link based on the velocity of each of the real joints and the sequentially-connected virtual joints and the Jacobian matrix of the centroid of the k-th link;
calculating, by the processor, a derivative of the rotation matrix of each of the k links based on the linear velocity at the joint position of the link and the rotation matrix;
calculating, by the processor, a derivative of the Jacobian matrix of the centroid of the k-th link based on the centroid position, the joint position, the derivative of the rotation matrix, the linear velocity at the joint position, and the linear velocity at the centroid position;
calculating, by the processor, a derivative of the total centroid Jacobian matrix of the humanoid robot based on the derivative of the Jacobian matrix of the centroid of each of the k links and the total mass of the humanoid robot; and
calculating, by the processor, the total centroid acceleration based on the total centroid Jacobian matrix, the derivative of the total centroid Jacobian matrix, and the velocity and the acceleration of each of the real joints and the sequentially-connected virtual joints.