---
publication_id: "OT-2026-000002815"
title: "Method and apparatus for controlling robot motion, device and storage medium"
published_at: "2026-09-15T19:15:32.351278Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002815"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1651"
  - "b25j9/1651"
  - "b62d57/032"
  - "b25j13/08"
  - "b25j13/089"
  - "b25j13/089"
---

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

## 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.