The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 14, 2025
Filed:
Nov. 28, 2022
Ubtech Robotics Corp Ltd, Shenzhen, CN;
Ligang Ge, Shenzhen, CN;
Yizhang Lìu, Shenzhen, CN;
Chunyu Chen, Shenzhen, CN;
Qiuyue Luo, Shenzhen, CN;
Jiangchen Zhou, Shenzhen, CN;
Meng Yan, Shenzhen, CN;
Youjun Xiong, Shenzhen, CN;
UBTECH ROBOTICS CORP LTD, Shenzhen, CN;
Abstract
A robot stability control method includes: obtaining a desired zero moment point (ZMP) and a fed-back actual ZMP of a robot at a current moment; based on a ZMP tracking control model, the desired ZMP and the actual ZMP, calculating a desired value of a motion state of a center of mass of the robot at the current moment, wherein the desired value of the motion state of the center of mass comprises a correction amount of the position of the center of mass; based on a spring-mass-damping-acceleration model and the desired value of the motion state of the center of mass, calculating a lead control input amount for the correction amount of the position of the center of mass; and controlling motion of the robot according to the lead control input amount and a planned value of the position of the center of mass at the current moment.