Pose control method, robot and computer-readable storage medium
US12005584B2 · kind B2 · utility
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20Claims
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Key dates
| Filing date | Sep 29, 2021 |
| Grant date | Jun 11, 2024 |
| Priority date | — |
| Expiry date | Nov 18, 2042 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J13/088
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A pose control method for a robot includes: estimating a first set of joint angular velocities of all joints of the robot according to a balance control algorithm; estimating a second set of joint angular velocities of all joints of the robot according to a momentum planning algorithm; estimating a third set of joint angular velocities of all joints of the robot according to a pose return-to-zero algorithm; and performing pose control on the robot according to the first set of joint angular velocities, the second set of joint angular velocities, and the third set of joint angular velocities.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.