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:
Aug. 25, 2026
Filed:
Mar. 13, 2024
Tencent Technology (Shenzhen) Company Limited, Shenzhen, CN;
Shuai Wang, Shenzhen, CN;
Yu Zheng, Shenzhen, CN;
Qinqin Zhou, Shenzhen, CN;
Wanchao Chi, Shenzhen, CN;
TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED, Shenzhen, CN;
Abstract
This application provide a method for controlling the landing of a legged robot on a plane. The legged robot includes a base and at least two robotic legs, each leg including at least one joint. The method includes: determining a first expected moving trajectory and a second expected moving trajectory corresponding to the legged robot in response to determining that the legged robot is going to contact a plane, the first expected moving trajectory indicating an expected moving trajectory of a center of mass of the legged robot and an expected moving trajectory of a change in a tilt angle of the legged robot, and the second expected moving trajectory indicating an expected moving trajectory of a foot end of each robotic leg; and controlling, based on a dynamic model and the first and second moving trajectories, an action of each joint after the legged robot contacts the plane.