US 12,005,584 B2
Pose control method, robot and computer-readable storage medium
Hongge Wang, Shenzhen (CN); Chunyu Chen, Shenzhen (CN); Yizhang Liu, Shenzhen (CN); Ligang Ge, Shenzhen (CN); Jie Bai, Shenzhen (CN); Xingxing Ma, Shenzhen (CN); Jiangchen Zhou, 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 Sep. 29, 2021, as Appl. No. 17/488,341.
Application 17/488,341 is a continuation of application No. PCT/CN2020/139896, filed on Dec. 28, 2020.
Claims priority of application No. 202011532454.5 (CN), filed on Dec. 22, 2020.
Prior Publication US 2022/0193899 A1, Jun. 23, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1653 (2013.01) [B25J 9/1607 (2013.01); B25J 9/1664 (2013.01); B25J 13/088 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented pose control method for a robot, comprising:
estimating a first set of joint angular velocities of all joints of the robot according to a balance control algorithm;
estimating a second set of joint angular velocities of all joints of the robot according to a momentum planning algorithm;
estimating a third set of joint angular velocities of all joints of the robot according to a pose return-to-zero algorithm; and
performing pose control on the robot according to the first set of joint angular velocities, the second set of joint angular velocities, and the third set of joint angular velocities;
wherein estimating the second set of joint angular velocities of all joints of the robot according to the momentum planning algorithm comprises:
obtaining actual joint angular velocities of the robot;
calculating an actual momentum of the robot according to the actual joint angular velocities;
constructing a counter-rotational momentum corresponding to the actual momentum; and
calculating the second set of joint angular velocities according to the counter-rotational momentum; and
wherein the actual momentum of the robot is calculated according to the following equation: mfeedback=Aωfeedback, where A represents a predefined mapping matrix, ωfeedback represents the actual angular velocities, and mfeedback represents the actual momentum of the robot.