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

Claim 13:
14. The humanoid robot of claim 8, wherein an inertial measurement unit is disposed on a trunk of the humanoid robot, and the instructions for obtaining the motion state of the virtual floating base comprise:
instructions for measuring a posture angle, an angular velocity, and an angular acceleration of the humanoid robot in the world coordinate system through the inertial measurement unit;
instructions for obtaining 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
instructions for obtaining 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.