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

Claim 10:
11. The humanoid robot of claim 10, wherein the instructions for 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 comprise:
instructions for determining the expected rotation angle and the expected rotation angular velocity corresponding to a left hip rotational joint servo, a left hip front joint servo, and a left hip side joint servo in the leg joint servos of the humanoid robot based on the current rotation angle of the left hip joint;
instructions for determining the expected rotation angle and the expected rotation angular velocity corresponding to a left knee front joint servo in the leg joint servos of the humanoid robot based on the current rotation angle of the left knee joint;
instructions for determining the expected rotation angle and the expected rotation angular velocity corresponding to a left ankle front joint servo and a left ankle side joint servo in the leg joint servos of the humanoid robot based on the current rotation angle of the left ankle joint;
instructions for determining the expected rotation angle and the expected rotation angular velocity corresponding to a right hip rotational joint servo, a right hip front joint servo, and a right hip side joint servo in the leg joint servos of the humanoid robot based on the current rotation angle of the right hip joint;
instructions for determining the expected rotation angle and the expected rotation angular velocity corresponding to a right knee front joint servo in the leg joint servos of the humanoid robot based on the current rotation angle of the right knee joint; and
instructions for determining the expected rotation angle and the expected rotation angular velocity corresponding to a right ankle front joint servo and a right ankle side joint servo in the leg joint servos of the humanoid robot based on the current rotation angle of the right ankle joint.