{
  "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.",
  "assignees": [
    "BEIJING XIAOMI ROBOT TECH CO LTD"
  ],
  "authors": [
    "XIE YAN"
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  "title": "Method and apparatus for controlling robot motion, device and storage medium",
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