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

Claim 6:
7. The method of claim 1, wherein an inertial measurement unit is disposed on a trunk of the humanoid robot, and the obtaining, by the processor, the motion state of the viral floating base comprises:
measuring, by the processor, a posture angle, an angular velocity, and an angular acceleration of the humanoid robot in the world coordinate system through the inertial measurement unit;
obtaining, by the processor, a velocity of the virtual floating base of the humanoid robot by performing an angular velocity spatial decoupling based on the posture angle and the angular velocity; and
obtaining, by the processor, an acceleration of the virtual floating base of the humanoid robot by performing an angular acceleration spatial decoupling based on the posture angle, the angular velocity, and the angular acceleration.