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This is a record of a document published elsewhere, first published by the United States Patent and Trademark Office, as US-12552024-B2, on 17 February 2026. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000002815

Method and apparatus for controlling robot motion, device and storage medium

Published
Permanent URL
Classification
Robotics & Automation › Robot Architectures
Inventors
XIE YAN
Assignee
BEIJING XIAOMI ROBOT TECH CO LTD
Original source
US-12552024-B2, the United States Patent and Trademark Office, 17 February 2026
Document SHA-256
5eea9f09c70bad07f15b6bc4e66f2565e3ec610c51d8a3034f295ac613d93f80

Abstract

A method for controlling robot motion includes: determining a remaining duration of a current stepping cycle, which is a duration from a current moment to an end moment of the current stepping cycle; predicting, based on the remaining duration, an expected velocity, a first center of mass position and a first instantaneous velocity of the robot at the current moment, and a state space equation, a second center of mass position and a second instantaneous velocity of the robot at the end moment; determining, based on the expected velocity, the second center of mass position and the second instantaneous velocity, a stable foothold position corresponding to the current stepping cycle; determining, based on the stable foothold position and the second center of mass position, at least one motion parameter corresponding to at least one joint in the robot associated with stepping; and controlling the robot based on the at least one motion parameter.

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Citation

OpenTechnical Publication OT-2026-000002815, “Method and apparatus for controlling robot motion, device and storage medium,” published September 15, 2026 at 19:15:32 UTC, https://opentechnical.org/p/OT-2026-000002815.

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