Humanoid robot real-time limb trajectory optimization method based on centroid dynamics

By using a real-time limb trajectory optimization method based on centroid dynamics, the problem of missing limb dynamics in the high-dynamic motion of humanoid robots is solved, enabling precise control and rapid response of body posture, and improving the stability of the robot in non-periodic and disturbed environments.

CN121956572APending Publication Date: 2026-05-01WANJING QIANXUN (BEIJING) TECHNOLOGY CO LTD
View PDF 0 Cites 0 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
WANJING QIANXUN (BEIJING) TECHNOLOGY CO LTD
Filing Date
2026-02-05
Publication Date
2026-05-01

AI Technical Summary

Technical Problem

Existing technologies cannot effectively consider limb dynamics in the high-dynamic movements of humanoid robots, especially in the airborne phases of running and jumping. This results in unstable robot postures, difficulty in coping with non-periodic and disturbance-related issues, and a lack of real-time adaptive capabilities.

Method used

The real-time limb trajectory optimization method based on center-of-mass dynamics constructs an optimization problem to minimize body orientation deviation by utilizing the decoupling property of the center-of-mass angular momentum matrix. It then optimizes joint trajectories using the principle of conservation of angular momentum to generate coordinated multi-limb movement patterns.

Benefits of technology

It achieves precise automatic control of body posture during the airborne phase, possesses excellent real-time performance and versatility, can solve problems quickly on ordinary CPUs, coordinates multi-limb movements, and enhances the robustness and adaptability of the system.

✦ Generated by Eureka AI based on patent content.

Smart Images

  • Figure CN121956572A_ABST
    Figure CN121956572A_ABST
Patent Text Reader

Abstract

The invention discloses a humanoid robot real-time limb trajectory optimization method and device based on centroid dynamics and a robot, and belongs to the field of robot motion control. The method comprises the following steps: acquiring a robot take-off state and a next grounding target; based on the conservation of angular momentum in the flying stage, constructing an optimization problem which takes a joint trajectory polynomial coefficient as an optimization variable and takes the minimization of the body direction deviation during grounding as a target and comprises kinematics position and speed constraint; the core of the method is that the key property that a translation coupling term in a centroid angular momentum matrix is zero is utilized and proved, so that body rotation dynamics and centroid translation are completely decoupled, and a complex whole-body trajectory is optimized and simplified into an efficient problem which can be solved in real time at a millisecond level; according to the method, a coordinated limb swinging track can be automatically generated, the body posture is accurately controlled in the running and jumping flying stage, and manual intervention is not needed.
Need to check novelty before this filing date? Find Prior Art