Office Action 3: Notice of Allowance (2025-04-28)

CLAIMS:
Claims

The listing of the claims below replaces all previous listings of the claims.

1\. (Currently Amended) A robot motion control method, applied to a robot, the method comprising:
obtaining a center-of-mass reference trajectory for guiding the robot to execute a target motion; the center-of-mass reference trajectory being a center-of-mass motion trajectory of the robot configured to achieve the target motion;
determining desired center-of-mass motion data of the robot based on the center-of-mass reference trajectory, the desired center-of-mass motion data being a desired value of motion data associated with a center of mass of the robot;
constructing an objective function based on the desired center-of-mass motion data and matrix data constructed based on a position relationship between the center of mass of the robot and contact points, the contact points being contact points between the robot and an environment, a value of the objective function is representing a degree of deviation of the robot from the center-of-mass reference trajectory, wherein the objective function is:J- = (wdes\-Af)TW,(wdes\-Af),
where W,, denotes a positive definite weight matrix, wdes denotes the desired center-of-mass motion data, A denotes the matrix and f denotes the center-of-mass control information;calculating center-of-mass control information enabling the value of the objective function to satisfy an optimization stop condition;
generating joint control information according to the center-of-mass control information and a structure matrix of the robot; and
controlling the robot to execute the target motion based on the joint control information.

2\. (Canceled).

3\. (Canceled) SVG {EMBED HERE} 0.1972.237

    .

4\. (Original) The method according to claim 1, wherein the calculating the center-of- mass control information comprises:
utilizing quadratic programming (QP) optimization to calculate the center-of-mass control information.

5\. (Original) The method according to claim 1, wherein the calculating the center-of- mass control information comprises:
utilizing interior point optimizer (IPOPT) optimization to calculate the center-of-mass control information.

6\. (Original) The method according to claim 1, wherein the obtaining the desired center- of-mass motion data of the robot based on the center-of-mass reference trajectory comprises:
obtaining actual center-of-mass motion data of the robot;
obtaining reference center-of-mass motion data of the robot according to the center-of-mass reference trajectory;
obtaining a center-of-mass motion data adjustment value according to a difference between the actual center-of-mass motion data and the reference center-of-mass motion data;
and obtaining the desired center-of-mass motion data according to the center-of-mass motion data adjustment value and the reference center-of-mass motion data.

7\. (Original) The method according to claim 6, wherein the obtaining the center-of-mass motion data adjustment value according to the difference between the actual center-of-mass motion data and the reference center-of-mass motion data comprises:
calculating a difference between the actual center-of-mass motion data and the reference Page 3 of 10

center-of-mass motion data; andobtaining the center-of-mass motion data adjustment value according to a gain matrix and the difference, the gain matrix corresponding to the motion data associated with the center of mass of the robot.

8\. (Original) The method according to claim 6, wherein the center-of-mass motion data adjustment value comprises a center-of-mass acceleration adjustment value and a center-of- mass angular acceleration adjustment value.
9\. (Original) The method according to claim 8, wherein the center-of-mass acceleration adjustment value is represented by + Kpcef-pct), where pad denotes a center-of-mass acceleration adjustment SVG {EMBED HERE} 0.1730.723 denotes a reference center-of-mass velocity, SVG {EMBED HERE} 0.1670.263 denotes an actual center-of-mass velocity, SVG {EMBED HERE} 0.180.263 denotes a reference center-of- mass SVG {EMBED HERE} 0.1670.913 denotes an actual center-of-mass position, K and KS denote gain matrices associated with center-of-mass acceleration.SVG {EMBED HERE} 0.2031.43
10\. (Original) The method according to claim 8, wherein the center-of-mass angular acceleration adjustment value is represented by SVG {EMBED HERE} 0.1871.553 + Kg (RrefRact)v,SVG {EMBED HERE} 0.1670.757SVG {EMBED HERE} 0.1470.293where denotes a center-of-mass angular acceleration adjustment denotes a reference center-of-mass angular velocity, oact denotes an actual center-of-mass angular velocity, Rref denotes a reference rotation matrix of a center-of-mass coordinate system relative to a world coordinate system, Ract denotes an actual rotation matrix of the center-of- mass coordinate system relative to the world coordinate system, (RrefRact)v denotes a rotation vector from Ract to Rref, and Kg and Kd denote gain matrices associated with center- of-mass angular acceleration.

11\. (Original) The method according to claim 1, wherein the method further comprises:
performing kinetics analysis on a particle model to obtain a kinetics equation, the particle model being obtained by simplification based on a robot body; and
analyzing the kinetics equation and constructing the objective function based on an objective of making the center-of-mass motion trajectory of the robot consistent with the Page 4 of 10

center-of-mass reference trajectory.

12\. (Original) The method according to claim 1, wherein the generating the joint control information according to the center-of-mass control information and the structure matrix of the robot comprises:
generating intermediate joint control information according to the center-of-mass control information and the structure matrix corresponding to the robot;
obtaining actual joint motion data of the robot;
obtaining reference joint motion data of the robot; and
adjusting the intermediate joint control information according to the actual joint motion data and the reference joint motion data to obtain the joint control information.
13\. (Original) The method according to claim 12, wherein the joint control information comprises joint torque represented by T = (grefgact), where SVG {EMBED HERE} 0.080.08 denotes joint torque, J, denotes the structure matrix corresponding to the robot, fopt denotes the center-of-mass control information obtained by optimization, gref denotes a reference joint angular velocity, SVG {EMBED HERE} 0.160.267 denotes an actual joint angular velocity, gref denotes a reference joint angle, qact denotes an actual joint SVG {EMBED HERE} 0.2070.93 and Kd are gain matrices associated with the joint torque.SVG {EMBED HERE} 0.2031.987

14\. (Original) The method according to claim 13, wherein the robot is a quadruped robot, and the target motion is a motion process from a four-legged lying down state to a two- legged standing state.

15\. (Currently Amended) A robot motion control apparatus, comprising:
a memory operable to store computer-readable instructions; and
a processor circuitry operable to read the computer-readable instructions, the processor circuitry when executing the computer-readable instructions is configured to:obtain a center-of-mass reference trajectory for guiding the robot to execute a target Page 5 of 10

motion; the center-of-mass reference trajectory being a center-of-mass motion trajectory of the robot configured to achieve the target motion;determine desired center-of-mass motion data of the robot based on the center-of- mass reference trajectory, the desired center-of-mass motion data being a desired value of motion data associated with a center of mass of the robot;
construct an objective function based on the desired center-of-mass motion data and matrix data constructed based on a position relationship between the center of mass of the robot and contact points, the contact points being contact points between the robot and an environment, a value of the objective function is representing a degree of deviation of the robot from the center-of-mass reference trajectory;
calculate center-of-mass control information enabling the value of the objective function to satisfy an optimization stop condition;
generate joint control information according to the center-of-mass control information and a structure matrix of the robot; and
control the robot to execute the target motion based on the joint control information.
l6. (Canceled).

17\. (Original) The apparatus according to claim 15, wherein the processor circuitry is configured to:
obtain actual center-of-mass motion data of the robot;
obtain reference center-of-mass motion data of the robot according to the center-of-mass reference trajectory;
obtain a center-of-mass motion data adjustment value according to a difference between the actual center-of-mass motion data and the reference center-of-mass motion data; and
obtain the desired center-of-mass motion data according to the center-of-mass motion data adjustment value and the reference center-of-mass motion data.

18\. (Original) The apparatus according to claim 15, wherein the processor circuitry is further configured to:
perform kinetics analysis on a particle model to obtain a kinetics equation, the particle model being obtained by simplification based on a robot body; and
analyze the kinetics equation and construct the objective function based on an objective of making the center-of-mass motion trajectory of the robot consistent with the center-of- mass reference trajectory.

19\. (Original) The apparatus according to claim 15, wherein the processor circuitry is configured to:
generate intermediate joint control information according to the center-of-mass control information and the structure matrix corresponding to the robot;
obtain actual joint motion data of the robot;
obtain reference joint motion data of the robot; and
adjust the intermediate joint control information according to the actual joint motion data and the reference joint motion data to obtain the joint control information.

20\. (Currently Amended) A non-transitory machine-readable media, having instructions stored on the machine-readable media, the instructions configured to, when executed, cause a machine to:
obtain a center-of-mass reference trajectory for guiding the robot to execute a target motion; the center-of-mass reference trajectory being a center-of-mass motion trajectory of the robot configured to achieve the target motion;
determine desired center-of-mass motion data of the robot based on the center-of-mass reference trajectory, the desired center-of-mass motion data being a desired value of motion data associated with a center of mass of the robot;
construct an objective function based on the desired center-of-mass motion data and

matrix data constructed based on a position relationship between the center of mass of the robot and contact points, the contact points being contact points between the robot and an environment, a value of the objective function is representing a degree of deviation of the robot from the center-of-mass reference trajectory, wherein the objective function is:SVG {EMBED HERE} 0.202.233 ,,
where W.A, denotes a positive definite weight matrix, wdes denotes the desired center-of- mass motion data, A denotes the matrix and f denotes the center-of-mass control information;
calculate center-of-mass control information enabling the value of the objective function to satisfy an optimization stop condition;
generate joint control information according to the center-of-mass control information and a structure matrix of the robot; and
control the robot to execute the target motion based on the joint control information.

OFFICE ACTION:
DETAILED ACTION
Notice of Pre-AIA  or AIA  Status
The present application, filed on or after March 16, 2013, is being examined under the first inventor to file provisions of the AIA .
EXAMINER’S AMENDMENT
An examiner’s amendment to the record appears below. Should the changes and/or additions be unacceptable to applicant, an amendment may be filed as provided by 37 CFR 1.312. To ensure consideration of such an amendment, it MUST be submitted no later than the payment of the issue fee.
Authorization for this examiner’s amendment was given during a phone call with Hefeng Su on 04/18/2025.  The amendment completely replaces the previously entered Claim 15 with the following Claim 15:
15. (Currently Amended) A robot motion control apparatus, comprising:
a memory operable to store computer-readable instructions; and
a processor circuitry operable to read the computer-readable instructions, the processor circuitry when executing the computer-readable instructions is configured to:
obtain a center-of-mass reference trajectory for guiding the robot to execute a target motion; the center-of-mass reference trajectory being a center-of-mass motion trajectory of the robot configured to achieve the target motion;
determine desired center-of-mass motion data of the robot based on the center-of- mass reference trajectory, the desired center-of-mass motion data being a desired value of motion data associated with a center of mass of the robot;
construct an objective function based on the desired center-of-mass motion data and matrix data constructed based on a position relationship between the center of mass of the robot and contact points, the contact points being contact points between the robot and an environment, a value of the objective function is representing a degree of deviation of the robot from the center-of-mass reference trajectory;
wherein the objective function is:
J
q
p
=
w
d
e
s
-
A
f
T
W
W
w
d
e
s
-
A
f
,
where Ww denotes a positive definite weight matrix, wdes denotes the desired center-of-mass motion data, A denotes the matrix and f denotes the center-of-mass control information.
calculate center-of-mass control information enabling the value of the objective function to satisfy an optimization stop condition;
generate joint control information according to the center-of-mass control information and a structure matrix of the robot; and
control the robot to execute the target motion based on the joint control information.
Allowable Subject Matter
The following is an examiner’s statement of reasons for allowance: The prior art of record fails to disclose, teach, suggest, nor sufficiently render obvious a combination of features as claimed and arranged by applicant when read in light of the specification.
Regarding Claim 1:
Ha discloses:
A robot motion control method, applied to a robot, the method comprising.  Paragraph [0037] describes a robot in which the trajectories of the robot are made using a center of mass of the robot and its feet.
obtaining a center-of-mass reference trajectory for guiding the robot to execute a target motion; the center-of-mass reference trajectory being a center-of-mass motion trajectory of the robot configured to achieve the target motion.  Paragraph [0037] describes a robot in which the trajectories of the robot are made using a center of mass of the robot and its feet.  These trajectories are computing using trajectory optimization.
generating joint control information according to the center-of-mass control information and a structure matrix of the robot; and controlling the robot to execute the target motion based on the joint control information.  Paragraph [0093] describes a Covariance Matrix Adaptation-Evolution Strategy.  Paragraph [0094] describes joint positions being sequentially solved in this matrix to find the joint positions including global position, orientation and joint angles at time t to match the desired trajectory of the motion optimizer.
Ha does not disclose the desired center-of-mass motion data being a desired value of motion data associated with a center of mass of the robot and calculating the center-of-mass control information enabling the value of the objective function to satisfy an optimization stop condition.
Rinke, in an analogous field of endeavor, teaches:
determining desired center-of-mass motion data of the robot based on the center-of-mass reference trajectory, the desired center-of-mass motion data being a desired value of motion data associated with a center of mass of the robot.  Paragraph [0089] describes a Center-of-Mass (COM) deviation in graphs 925, 935 and 945 which describes COM motion data.
calculating center-of-mass control information enabling the value of the objective function to satisfy an optimization stop condition.  Paragraph [0076] describes a differential-algebraic equations (DAE) to retarget motion profiles of the physical robot to minimize the dynamic equilibrium constant to minimize deviations.
Therefore, it would have been prima facie obvious to one of the ordinary skill in the art before the effective filing date of the claimed invention to have modified Ha to incorporate the teachings of Rinke to show the desired center-of-mass motion data being a desired value of motion data associated with a center of mass of the robot and calculating the center-of-mass control information enabling the value of the objective function to satisfy an optimization stop condition.  One would have been motivated to do so in order to yield fast and accurate vibration suppression of robot movement (Abstract of Rinke).
Ha and Rinke do not disclose or teach constructing an object function based on center-of-mass rotation data and matrix data constructed based on a position relationship between the center of mass of the robot and contact points and a value of the objective function representing a degree of deviation of the robot from the center-of-mass reference trajectory.
Huang, in an analogous field of endeavor, teaches:
constructing an objective function based on the desired center-of-mass motion data and matrix data constructed based on a position relationship between the center of mass of the robot and contact points, the contact points being contact points between the robot and an environment, a value of the objective function is representing a degree of deviation of the robot from the center-of-mass reference trajectory.  Paragraph [0055] to [0060] and figure 2 describe controlling a stable walking of a biped robot.  In summary, step S104 describes constructing a center of mass state prediction model.  S106 describes simplifying the optimization equations of the center of mass prediction model.  Paragraph [0067] describes these equations having a center of mass, contact points of each supporting leg with the ground and a derivative of the rotation matrix.  Paragraph [0085] describes a weight vector of the center of mass state error at each moment.
Therefore, it would have been prima facie obvious to one of the ordinary skill in the art before the effective filing date, with a reasonable expectation for success of the claimed invention, to have modified Ha and Rinke to incorporate the teachings of Huang to show constructing an object function based on center-of-mass rotation data and matrix data constructed based on a position relationship between the center of mass of the robot and contact points and a value of the objective function representing a degree of deviation of the robot from the center-of-mass reference trajectory.  One would have been motivated to do so to obtain control parameters for steady walking by solving the system of quadratic programming equations, i.e. the same role that it plays in the present application.
However, the prior art of record does not disclose, teach, suggest, or render obvious:
wherein the objective function is
J
q
p
=
w
d
e
s
-
A
f
T
W
W
w
d
e
s
-
A
f
,
where Ww denotes a positive definite weight matrix, wdes denotes the desired center-of-mass motion data, A denotes the matrix and f denotes the center-of-mass control information.
Regarding Claims 15 and 20:
Ha discloses:
A robot motion control apparatus, comprising: a memory operable to store computer-readable instructions; and a processor circuitry operable to read the computer-readable instructions, the processor circuitry when executing the computer-readable instructions is configured to.  Paragraph [0040] describes memory/data storage devices 150 and a processor 110.
The rest of claim 15 is substantially similar to claim 1 and is allowed for the same reasons.
As such, the independent claims 1, 15, and 20 are allowed for reasons presented above.  Dependent claims 4 – 15 and 17 – 20 are also allowed for requiring at least those same limitations from the respective independent claim in which they each depend.
Any comments considered necessary by applicant must be submitted no later than the payment of the issue fee and, to avoid processing delays, should preferably accompany the issue fee.  Such submissions should be clearly labeled “Comments on Statement of Reasons for Allowance.”
Conclusion

APPLICANT REBUTTAL: REMARKSI.    Introduction Claims 1, 3-15 and 17-20 are pending. The amendments are made without disclaimer of subject matter, and the Applicant reserves the right to pursue subject matter of any previously pending claim in a continuation or divisional application. No new matter has been introduced. The Applicant requests reconsideration in light of the amendment to the claims and the following remarks.II.   Rejection under 35 U.S.C. § 103 Claim(s) 1, 4 - 5, 11, 15, 18 and 20 are rejected under 35 U.S.C. 103 as being unpatentable over Ha in view of Rinke et al. (US Pub No: 2022/0184802 Al, hereinafter "Rinke") and Huang (CN 11167 4486).Applicant amended independent claim 1 to include the allowable subject matter in original claim 3, and respectfully submits that amended claim 1 and its dependent claims are patentable. Independent claim 20 is amended to recite similar features as the amended claim 1. For similar reasons as amended claim 1, amended independent claim 20 is patentable.Withdrawal of the rejections under 35 U.S.C. § 103 is therefore respectfully requested.III. Allowable Subject Matter Applicant notes with appreciation that claims 3, 9-10, and 13-14 have been indicated to contain allowable subject matter.IV.   Conclusion In view of the amendments to the claims and the foregoing remarks, Applicant submits that the pending claims are in condition for allowance. Reconsideration is therefore respectfully requested. The Examiner is invited to contact the undersigned attorney for the Applicant via telephone if such communication would expedite this application.April 7, 2025