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. 29, 2025
Filed:
Nov. 28, 2022
Ubtech Robotics Corp Ltd, Shenzhen, CN;
Chunyu Chen, Shenzhen, CN;
Ligang Ge, Shenzhen, CN;
Yizhang Liu, Shenzhen, CN;
Jiangchen Zhou, Shenzhen, CN;
Qiuyue Luo, Shenzhen, CN;
Youjun Xiong, Shenzhen, CN;
UBTECH ROBOTICS CORP LTD, Shenzhen, CN;
Abstract
A method of controlling a robot includes: obtaining an inertia matrix and a slack variable of the robot, and determining a momentum equation of the robot according to the inertia matrix and the slack variable; obtaining reference joint angles corresponding to a reference action of the robot; determining an optimization objective function of the momentum equation according to a first preset weight coefficient of the slack variable and a second preset weight coefficient of the reference joint angles; and determining joint angles of the robot according to the optimization objective function, and driving the robot to move according to the joint angles of the robot.