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:
Dec. 16, 2025
Filed:
May. 22, 2023
Ubtech Robotics Corp Ltd, Shenzhen, CN;
UBTECH ROBOTICS CORP LTD, Shenzhen, CN;
Abstract
A multi-legged robot load balancing method, a multi-legged robot, and a storage medium are provided. The method includes: calculating a current position and velocity of a load positioned on a torso according to a value measured by a force sensor; calculating, through a feedback control law, a desired posture of the torso required for keeping a balance of the load according to the current position and the current velocity of the load; determining an expected position of virtual joints according to the desired posture of the torso, and calculating, using a full dynamics control algorithm of the robot, a joint torque for each real joint of the robot according to the expected position; and transmitting the calculated joint torques to the corresponding real joints so that the torso is moved to reach the desired posture by moving the corresponding real joints.