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

Claim 12:
13. The humanoid robot of claim 8, wherein the optimization objective function is created based on a stability theory of an extrapolated centroid (XCoM) through an equation of:, 𝒥
    ⁡
    (
    
     
      θ
      2
     
     ,
     
      
       θ
       ^
      
      2
     
    
    )
   
   =
   
    
     1
     2
    
    ⁢
    
     
      
      
       b
       -
       s
      
      
     
     2
    
   
  
  ;
 

where, b=(bx, by) is a position of the XCoM, s=(sx, sy) is a position of a center of a boundary of support (BoS), θ2 is the corrected expected rotation angle of the second joint servo, and {circumflex over (θ)}2 is the corrected expected angular velocity of the second joint servo.