{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-11472024","patent":{"patent_number":"US-11472024","title":"Humanoid robot and its control method and computer readable storage medium","assignee":null,"inventors":[],"filing_date":"2020-12-24T00:00:00.000Z","publication_date":"2022-10-18T00:00:00.000Z","cpc_codes":["B25J","B25J","B25J","B25J","B62D","B62D","G05B"],"num_claims":20,"abstract":"The present disclosure provides a humanoid robot and its control method and computer readable storage medium. The method includes: obtaining a current torque of a sole of the humanoid robot, an inclination angle of the sole, an inclination angle of a first joint of the humanoid robot, and an inclination angle of a second joint of the humanoid robot; calculating current feedforward angular velocities of motors of the first and second joints through the obtained information; calculating feedback angular velocities of the motors of the first and second joints; and obtaining inclination angles of the joints based on the feedforward angular velocities of the motors and the feedback angular velocities of the motors, and performing, through the motor of the second joint, a deviation control on the joints according to the inclination angles of the joints."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Humanoid robot and its control method and computer readable storage medium","description":"The present disclosure provides a humanoid robot and its control method and computer readable storage medium. The method includes: obtaining a current torque of a sole of the humanoid robot, an inclin","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-11472024","license":"CC-BY-4.0-like","license_terms":"AI-generated analysis on this page (summary, layman_explanation, technical_analysis, business_analysis, faqs) may be reused with attribution and a visible link back to the canonical URL above. Patent abstracts, claims, and bibliographic data are USPTO public domain.","required_link":"https://patentable.app/patents/US-11472024","citation_suggestion":"Patentable. \"Humanoid robot and its control method and computer readable storage medium\" (US-11472024). https://patentable.app/patents/US-11472024","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-11472024","json":"https://patentable.app/api/llm-context/US-11472024","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-05-31T06:52:14.011Z"}