智元机器人公布人形机器人自碰撞规避相关专利

Core Viewpoint - The article highlights the recent publication of a patent by Zhiyuan Innovation (Shanghai) Technology Co., Ltd., related to humanoid robots, specifically focusing on self-collision avoidance methods and control mechanisms for robotic joints [1]. Group 1: Patent Details - The patent describes a method for determining self-collision avoidance control torque and joint control torque for corresponding links based on a target link [1]. - It includes the use of a null space projection matrix to project the joint control torque of the corresponding link and its preceding link into the null space of the self-collision avoidance control torque task [1]. - The method aims to control the movement of joint motors based on the first and second superimposed torques [1].