OPENTECHNICAL PUBLICATION
OT-2026-000002815

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

Published: 2026-09-15T19:15:32.351278Z
Permanent URL: https://opentechnical.org/p/OT-2026-000002815
Categories: Robotics & Automation > Robot Architectures

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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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OpenTechnical publication OT-2026-000002815
Published 2026-09-15T19:15:32.351278Z
https://opentechnical.org/p/OT-2026-000002815