US 11,938,635 B2
Motion control method, robot controller and computer readable storage medium
Zhihao Zhang, Shenzhen (CN); Yizhang Liu, Shenzhen (CN); Jinliang Chen, Shenzhen (CN); and Youjun Xiong, Shenzhen (CN)
Assigned to UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed by UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed on Mar. 24, 2022, as Appl. No. 17/702,819.
Application 17/702,819 is a continuation of application No. PCT/CN2021/131893, filed on Nov. 19, 2021.
Claims priority of application No. 202110349082.0 (CN), filed on Mar. 31, 2021.
Prior Publication US 2022/0324106 A1, Oct. 13, 2022
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1607 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented motion control method for a humanoid robot, comprising:
obtaining a whole-body generalized coordinate vector, an actual task space vector and a to-be-executed task space vector of the humanoid robot at a current moment, wherein the whole-body generalized coordinate vector is composed of a waist posture vector and a robotic arm posture vector of the humanoid robot;
calculating an inverse Jacobian matrix of the whole-body generalized coordinate vector relative to the actual task space vector based on the waist posture vector and the robotic arm posture vector;
calculating a target generalized coordinate vector corresponding to the to-be-executed task space vector by combining the actual task space vector and the to-be-executed task space vector into a null space of the inverse Jacobian matrix according to one or more preset position constraints corresponding to the whole-body generalized coordinate vector; and
controlling a motion state of the humanoid robot according to the target generalized coordinate vector.