Zhiqicha APP shows that recently, the affiliated company of Zhiyuan Robotics, Shanghai Zhiyuan Xinchuang Technology Co., Ltd., has applied for a patent titled "Training Method and Program Product for a Robot's Motion Control Model," which has been published.

Zhiqicha's patent abstract states that this application includes: obtaining an actual contact sequence that characterizes the contact situation between the robot and a specified surface during the robot's execution of a foot action; the foot action is generated by the motion control model; obtaining an expected contact sequence of the robot's contact situation with the specified surface during the execution of the foot action; the expected contact sequence is generated based on a phase variable and a gait mapping relationship; the gait mapping relationship is used to represent the relationship between the expected swing duty cycle and the expected inter-foot phase shift corresponding to the foot action and the phase variable; generating a swing excitation value based on the sequence difference between the expected contact sequence and the actual contact sequence; the swing excitation value is negatively correlated with the sequence difference; iteratively adjusting the parameters of the motion control model based on the swing excitation value. This can improve the control accuracy of the motion control model for the robot.