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:
Jul. 28, 2026
Filed:
Oct. 23, 2023
Beijing Xiaomi Robot Technology Co., Ltd., Beijing, CN;
Mingliang Zhou, Beijing, CN;
BEIJING XIAOMI ROBOT TECHNOLOGY CO., LTD., Beijing, CN;
Abstract
The present disclosure provides a motion control method and apparatus, and a method and apparatus for generating a trajectory of a motion. The motion control method is applied to a robot, and includes: generating, according to a type of a desired motion, at least one motion phase of a motion process and a time for each motion phase; determining, according to the at least one motion phase and the time of each motion phase, a desired pose of the robot at least one node during the motion process; inputting the desired pose as a reference value into a cost function model to obtain a trajectory of the desired motion, where the trajectory includes a pose and a control parameter of the robot at each sampling point during the motion process; and controlling the robot to move according to the trajectory of the desired motion.