Embodied intelligence limb coordination movement precision control optimization method and device
By using multimodal data fusion and hierarchical distributed control based on a whole-body coupled dynamics model, the problems of inaccurate data fusion and incomplete coupling modeling in multi-limb coordinated motion are solved, and high-precision control and anti-disturbance capability of embodied intelligent devices in complex scenarios are realized.
CN122411273APending Publication Date: 2026-07-17HANGZHOU XINGZHONG ZHIQING TECHNOLOGY CO LTD
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- HANGZHOU XINGZHONG ZHIQING TECHNOLOGY CO LTD
- Filing Date
- 2026-06-04
- Publication Date
- 2026-07-17
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Figure CN122411273A_ABST
Abstract
本发明公开了基于具身智能肢体协同运动精准控制优化方法及装置，涉及智能设备运动控制技术领域。本发明采集具身智能多肢体及环境的多模态异构数据，经多模态时空编码与动态交叉注意力融合输出全局时空认知张量；基于改进拉格朗日方程构建含非对角元非零耦合质量矩阵的全身耦合动力学质量模型，同时建立空间位姿、时序同步、力平衡三重多肢体协同约束；构建分层分布式协同优化控制模型，上层通过改进型预测控制算法结合动力学模型与协同约束，输出全局最优关节轨迹和驱动力矩，下层通过自适应协同校正算法进行局部偏差校正；基于校正后的轨迹和力矩实现肢体协同运动精准控制。本发明适用于多肢体具身智能设备的运动控制，具有广泛的应用价值。
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