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:
May. 20, 2025
Filed:
Oct. 20, 2022
Tencent Technology (Shenzhen) Company Limited, Shenzhen, CN;
Yu Zheng, Shenzhen, CN;
Xinyang Jiang, Shenzhen, CN;
Wanchao Chi, Shenzhen, CN;
Zhengyou Zhang, Shenzhen, CN;
TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED, Shenzhen, CN;
Abstract
A legged robot motion control method includes: acquiring centroid state data of a spatial path start point and a spatial path end point of a motion path; determining a target landing point of afoot of the legged robot in the motion path based on the spatial path start point and the spatial path end point; determining a change relationship between a centroid position change coefficient and a foot contact force based on the centroid state data; selecting, under constraint of a constraint condition set, a target centroid position change coefficient that meets the change relationship; the constraint condition set including a spatial landing point constraint condition; determining a target motion control parameter according to the target centroid position change coefficient and the target landing point of the foot; and controlling, based on the target motion control parameter, the legged robot to perform motion according to the motion path.