Footed robot landing control method and device
US10960552B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 25, 2018 |
| Grant date | Mar 30, 2021 |
| Priority date | — |
| Expiry date | Sep 20, 2039 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D57/032
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A footed robot landing control method and device are provided. The footed robot landing control method includes: detecting a landing motion state of the robot; if the landing motion state is a flight phase descending state, a motion of the foot portion of the robot with respect to a ground in the flight phase descending state is controlled based on a relative speed; if the landing motion state is a support phase landing state, a motion of joints of the robot in the support phase landing state is controlled based on a first expected joint torque. The footed robot landing control method and device are capable of reducing the impact of the foot portion against the ground, thereby realizing the flexible control of the landing process of the footed robot in a simple and rapid manner and reducing the cost of the footed robot.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.