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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-12552028-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-2026-000002910

Barycenter position determining method and apparatus, legged robot, and storage medium

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Classification
Robotics & Automation › Robot Architectures
Inventors
CHI WANCHAO, JIANG XINYANG, LING YONGGEN, ZHANG SHENGHAO, ZHANG ZHENGYOU, ZHENG YU
Assignee
TENCENT TECH SHENZHEN CO LTD
Original source
US-12552028-B2, the United States Patent and Trademark Office, 17 February 2026
Document SHA-256
7c1006b58ecca646029fbf081911badb5905e09605a6ea5814b5d6aca87e099f

Abstract

A computing device creates first relation data indicating a relation between an interval duration and a center of mass position of a legged robot. The first relation data comprises a first constant, C. The computing device creates second relation data corresponding to at least one leg of for the legged robot and a force corresponding to the at last one leg with the ground. The second relation data comprises the first constant, C. The computing device creates third relation data according to the second relation data. The device determines a value of the first constant, C, when a target value J is a minimum value, and obtains the first relation data according to the determined value of the first constant, C.

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OpenTechnical Publication OT-2026-000002910, “Barycenter position determining method and apparatus, legged robot, and storage medium,” published September 15, 2026 at 19:16:05 UTC, https://opentechnical.org/p/OT-2026-000002910.

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