Movement trajectory determination

A control apparatus, comprising:

• processing circuitry configured to:
• generate second relational data and third relational data, the second relational data indicating a relationship between a movement duration and one or more forces applied to one or more feet of a legged robot in contact with a ground, the third relational data indicating a relationship between the one or more forces and a predicted rotational angle of the legged robot when the legged robot moves to a target location after a target movement duration elapses, and the second relational data comprising a vector C with elements to be determined,
• generate fourth relational data based on the third relational data, the fourth relational data indicating a positive correlation between a target value J that is associated with the vector C and a status data error, the status data error representing an error between predicted status data and target status data when the legged robot moves to the target location after the target movement duration elapses, the target status data comprising a target rotational angle of the legged robot at the target location, and the predicted status data comprising the predicted rotational angle;
• determine, based on the second relational data and the fourth relational data, the elements of the vector C that minimize the target value J;
• determine first relational data with the determined elements of the vector C, the first relational data with the determined elements of the vector C representing a movement trajectory of a torso of the legged robot;
• and
• cause the legged robot to move based on the movement trajectory.

A non-transitory computer-readable storage medium storing instructions which when executed by at least one processor cause the at least one processor to perform:

• generating second relational data and third relational data, the second relational data indicating a relationship between a movement duration and one or more forces applied to one or more feet of a legged robot in contact with a ground, the third relational data indicating a relationship between the one or more forces and a predicted rotational angle of the legged robot when the legged robot moves to a target location after a target movement duration elapses, and the second relational data comprising a vector C with elements to be determined;
• generating fourth relational data based on the third relational data, the fourth relational data indicating a positive correlation between a target value J that is associated with the vector C and a status data error, the status data error representing an error between predicted status data and target status data when the legged robot moves to the target location after the target movement duration elapses, the target status data comprising a target rotational angle of the legged robot at the target location, and the predicted status data comprising the predicted rotational angle;
• determining, based on the second relational data and the fourth relational data, the elements of the vector C that minimize the target value J;
• determining first relational data with the determined elements of the vector C, the first relational data with the determined elements of the vector C representing a movement trajectory of a torso of the legged robot;
• and
• causing the legged robot to move based on the movement trajectory.