Method and device for controlling gait of biped robot
US10031524B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Sep 5, 2016 |
| Grant date | Jul 24, 2018 |
| Priority date | — |
| Expiry date | Sep 5, 2036 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D57/032
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A method and a device for controlling a gait of a biped robot. The method includes: selecting gait controlling parameters, and acquiring a movement trajectory of a center of mass when a zero moment point of the biped robot is located within a steady area; obtaining first numerical values of each of the gait controlling parameters of the center of mass and second numerical values of the center of mass; setting a first constraint condition when the step starting phase ends by using the first numerical values, and setting a second constraint condition when the step ending phase starts by using the second numerical values; calculating the movement trajectories of the center of mass in the step starting phase and the step ending phase on the basis of the first constraint condition and the second constraint condition, respectively; and controlling a walking of the biped robot.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.