Patent ID: 11904472
Assignee: UBTECH ROBOTICS CORP LTD
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A computer-implemented control method for a humanoid robot, comprising:
collecting posture information of leg joints of a human body;
mapping the posture information of the leg joints of the human body to leg joint servos of the humanoid robot to obtain a first expected rotation angle and a first expected rotation angular velocity of one or more first joint servos of the leg joint servos and a second expected rotation angle and a second expected rotation angular velocity of one or more second joint servos of the leg joint servos;
obtaining an optimization objective function corresponding to the one or more second joint servos of the leg joint servos;
optimizing the second expected rotation angle and the second expected rotation angular velocity of the one or more second joint servos based on the optimization objective function to obtain a corrected expected rotation angle and a corrected expected rotation angular velocity of the one or more second joint servos;
obtaining a first actual rotation angle of the one or more first joint servos and a second actual rotation angle of the one or more second joint servos;
calculating a first reference velocity of the one or more first joint servos based on the first actual rotation angle, the first expected rotation angle and the first expected rotation angular velocity of the one or more first joint servos;
calculating a second reference velocity of the one or more second joint servos based on the second actual rotation angle, the corrected rotation angle and the corrected rotation angular velocity of the one or more second joint servos; and
controlling each of the leg joint servos of the humanoid robot based on the first reference velocity of the one or more first joint servos and the second reference velocity of the one or more second joint servos.