Patent ID: 11938635
Assignee: UBTECH ROBOTICS CORP LTD
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 12:
13. The motion controller of claim 8, wherein the first motion velocity vector is calculated using an equation of:, [
    
     
      
       
        
         
          
           foot
          
         
         
          
           torso
          
         
        
        ⁢
        v
       
      
     
     
      
       
        
         
          
           foot
          
         
         
          
           torso
          
         
        
        ⁢
        w
       
      
     
    
    ]
   
   =
   
    
     [
     
      
       
        
         
          ∂
          f
         
         
          ∂
          x
         
        
       
       
        
         
          ∂
          f
         
         
          ∂
          y
         
        
       
       
        
         
          ∂
          f
         
         
          ∂
          z
         
        
       
       
        
         
          ∂
          f
         
         
          ∂
          
           r
           x
          
         
        
       
       
        
         
          ∂
          f
         
         
          
           ∂
           r
          
          
           |
           y
          
         
        
       
       
        
         
          ∂
          f
         
         
          ∂
          
           r
           z
          
         
        
       
      
      
       
        0
       
       
        0
       
       
        0
       
       
        1
       
       
        0
       
       
        0
       
      
      
       
        0
       
       
        0
       
       
        0
       
       
        0
       
       
        1
       
       
        0
       
      
      
       
        0
       
       
        0
       
       
        0
       
       
        0
       
       
        0
       
       
        1
       
      
     
     ]
    
    ⁢
    
     
      η
      .
     
     T
    
   
  
  ;
 

where, torsofootv represents the linear velocity of the waist relative to the feet, and torsofootw represents the angular velocity of the waist relative to the feet.