Zhiyuan Robot announces patents related to humanoid robot self-collision avoidance technology.

The Qichacha app shows that recently, the affiliated company of Zhiyuan Robot, Zhiyuan Innovation Technology Co., Ltd., has published a patent for "self-collision avoidance method, robots, equipment, and program products for humanoid robots." The summary of the patent on Qichacha shows that the method includes: determining the self-collision avoidance control torque of the corresponding link, joint control torque based on the target link, and determining the self-collision avoidance control torque of the preceding link that affects the movement of the corresponding link; using the zero-space projection matrix to project the joint control torque of the corresponding link and the joint control torque of the preceding link of the corresponding link to the zero-space corresponding to the task of self-collision avoidance control torque, obtaining the projected joint control torque of the corresponding link and the projected joint control torque of the preceding link of the corresponding link; controlling the movement of the corresponding joint motor based on the first superimposed torque and the second superimposed torque respectively.