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

Claim 6:
7. The method of claim 6, wherein the 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 the corrected expected rotation angle and the corrected expected rotation angular velocity of the one or more second joint servos comprises:
obtaining the position of the XCoM and the position of the center of the BoS;
calculating the optimization objective function based on the position of the XCoM and the position of the center of the BoS to obtain a first iterative formula of the expected rotation angle of the second joint servo and a second iterative formula of the expected rotation angular velocity of the second joint servo; and
calculating the corrected expected rotation angle based on the first iterative formula of the expected rotation angle of the second joint servo, and calculating the corrected expected rotation angular velocity based on the second iterative formula of the expected rotation angular velocity of the second joint servo.