Robot posture control method and robot and computer readable storage medium using the same

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United States of America Patent

PATENT NO 11780085
APP PUB NO 20220040851A1
SERIAL NO

17107966

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Abstract

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The present disclosure provides a robot posture control method as well as a robot and a computer readable storage medium using the same. The method includes: constructing a virtual model of the robot, wherein the virtual model comprises a momentum wheel inverted pendulum model of the robot and an angle between a sole surface of the robot and a horizontal plane; and performing a posture control based on outer-loop feedback control, inner loop compensation for the external disturbance rejection in position level, inner loop external disturbance rejection via null-space in velocity level, and inner loop external disturbance rejection in force/acceleration level on the robot. In this manner, a brand-new virtual model is provided, which can fully reflect the upper body posture, centroid, foot posture, and the like of the robot which are extremely critical elements for the balance and posture control of the robot.

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Patent Owner(s)

  • UBTECH ROBOTICS CORP LTD

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Ju, Xiaozhu Shenzhen, CN 5 1
Wang, Yuesong Shenzhen, CN 13 3
Xiong, Youjun Shenzhen, CN 370 499
Zhao, Mingguo Shenzhen, CN 24 6

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