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

Claim 11:
12. The humanoid robot of claim 11, wherein the instructions for calculating the derivative of the Jacobian matrix of the centroid of the k-th link based on the centroid position, the joint position, the derivative of the rotation matrix, the linear velocity at the joint position, and the linear velocity at the centroid position comprise:
instructions for calculating a derivative of the direction vector corresponding to the i-th joint based on the derivative of the rotation matrix of the i-th link and a unit coordinate vector;
instructions for calculating a derivative {dot over (J)}i of the i-th column vector in the Jacobian matrix of the centroid of the k-th link based on the direction vector corresponding to the i-th joint and the derivative of the direction vector, the centroid position and the joint position of the i-th link through an equation of:, J
     .
    
    i
   
   =
   
    
     
      ∂
      
       ∂
       t
      
     
     [
     
      
       
        
         
          z
          i
         
         (
         
          
           p
           
            com
            ⁢
            
             {
             k
             }
            
           
           0
          
          -
          
           p
           i
           0
          
         
         )
        
       
      
      
       
        
         z
         i
        
       
      
     
     ]
    
    =
    
     [
     
      
       
        
         
          
           
            z
            .
           
           i
          
          ×
          
           (
           
            
             p
             
              com
              ⁢
              
               {
               k
               }
              
             
             0
            
            -
            
             p
             i
             0
            
           
           )
          
         
         +
         
          
           z
           i
          
          ×
          
           (
           
            
             
              p
              .
             
             
              com
              ⁢
              
               {
               k
               }
              
             
             0
            
            -
            
             
              p
              .
             
             i
             0
            
           
           )
          
         
        
       
      
      
       
        
         
          z
          .
         
         i
        
       
      
     
     ]
    
   
  
  ;
 

where, żi is the derivative of the direction vector corresponding to the i-th joint, {dot over (p)}com{k}0 is the linear velocity at the centroid position of the k-th link in the world coordinate system, and {dot over (p)}i0 is the linear velocity at the joint position of the i-th link in the world coordinate system.