Biped robot equivalent trajectory generating method and biped robot using the same
US11061407B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 23, 2018 |
| Grant date | Jul 13, 2021 |
| Priority date | — |
| Expiry date | Dec 4, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0272
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
The present disclosure provides an equivalent trajectory generating method for a biped robot and a biped robot using the same. The method includes: obtaining a motion state of the biped robot by a position sensor; determining switching moments in an advancing direction of the biped robot, based on the motion state of the biped robot; finding the mass center position of the biped robot at each switching moment; connecting the mass center positions at the switching moments as an equivalent trajectory of the biped robot; and performing a closed loop control on the biped robot according to the equivalent trajectory. Through the method, the overall real-time position of the robot can be obtained according to the equivalent trajectory effectively, which is advantageous to perform a stable and reliable control to the biped robot according to the equivalent trajectory of the biped robot.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.