US 12,330,309 B2
Robot motion control method and apparatus
Qinqin Zhou, Guangdong (CN); Xiangyu Chen, Guangdong (CN); Yu Zheng, Guangdong (CN); Liangwei Xu, Guangdong (CN); Sicheng Yang, Guangdong (CN); and Kun Xiong, Guangdong (CN)
Assigned to Tencent Technology (Shenzhen) Company Limited, Shenzhen (CN)
Filed by Tencent Technology (Shenzhen) Company Limited, Guangdong (CN)
Filed on Nov. 9, 2022, as Appl. No. 17/983,553.
Application 17/983,553 is a continuation of application No. PCT/CN2022/073356, filed on Jan. 24, 2022.
Claims priority of application No. 202110116500.1 (CN), filed on Jan. 28, 2021.
Prior Publication US 2023/0069572 A1, Mar. 2, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 9/06 (2006.01); B25J 11/00 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1607 (2013.01); B25J 11/008 (2013.01); B25J 9/06 (2013.01)] 17 Claims
OG exemplary drawing
 
1. 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:
Jqp=(wdes−Af)TWw(wdes−Af),
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;
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.