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

Claim 2:
3. The method of claim 1, wherein the leg joints of the human body comprise six leg sub-joints, and the six leg sub-joints are a left hip joint, a left knee joint, a left ankle joint, a right hip joint, a right knee joint, and a right ankle joint;
the mapping the posture information of the leg joints of the human body to leg joint servos of the humanoid robot to obtain the first expected rotation angle and the first expected rotation angular velocity of the one or more first joint servos of the leg joint servos and the second expected rotation angle and the second expected rotation angular velocity of the one or more second joint servos of the leg joint servos comprises:
obtaining a first posture sampling node and a second posture sampling node associated with each of the leg sub-joints, wherein both the first posture sampling node and the second posture sampling node include a posture sensor;
obtaining first posture information collected via the first posture sampling node, and obtaining second posture information collected via the second posture sampling node;
calculating a pose relationship of the second pose sampling node relative to the first pose sampling node based on the first posture information and the second posture information;
calculating a current rotation angle of each of the leg sub joints based on the pose relationship corresponding to the leg sub-joint; and
determining the expected rotation angle and the expected rotation angular velocity corresponding to each of the leg joint servos of the humanoid robot based on the current rotation angle of each of the leg sub-joints.