A robot balancing control method and apparatus

By calibrating and predicting the independent and integrated dynamic equilibrium points of bionic robots, and combining equilibrium constraints and compensating actions, the balance stability problem of bionic robots during multi-action execution was solved, achieving stable control during the multi-action connection process, improving user experience and reducing R&D costs.

CN122165431APending Publication Date: 2026-06-09CHENGDU HUMANOID ROBOT INNOVATION CENT CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
CHENGDU HUMANOID ROBOT INNOVATION CENT CO LTD
Filing Date
2026-05-07
Publication Date
2026-06-09

AI Technical Summary

Technical Problem

Existing bionic robots are prone to center of gravity shift when performing multiple independent actions, causing the balance point to exceed the stable range, resulting in tipping or imbalance. Existing control methods cannot adjust the balance point in real time, leading to poor stability when actions are connected.

Method used

By calibrating the independent dynamic equilibrium points of each individual action of the robot, and combining the static equilibrium point and equilibrium constraints, the robot predicts and executes compensating actions to maintain balance. The comprehensive dynamic equilibrium point is determined by methods such as linear interpolation and neural network prediction algorithms, thereby achieving dynamic balance control.

Benefits of technology

When performing multiple independent actions or actions in sequence, ensure that the robot maintains stable balance to avoid tipping over, improve user experience, reduce R&D and production costs, and adapt to robots of different sizes and action types.

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Abstract

This invention discloses a robot balance control method and apparatus, relating to the field of robotics, to ensure the balance of a robot when performing multiple coordinated actions. This application separately calibrates the independent dynamic balance points for each independent action performed by the robot. Based on these independent dynamic balance points, a comprehensive dynamic balance point for the robot performing a composite action is determined. According to a set static balance point, it is determined whether the comprehensive dynamic balance point exceeds the range constrained by set balance limitations. If so, a compensation action is determined based on the difference between the comprehensive dynamic balance point and the static balance point. This compensation action is used to compensate for the imbalance at the comprehensive dynamic balance point, thereby balancing the robot. This application solves the imbalance problem when multiple independent actions are linked, and features strong scalability and a good user experience.
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