Biped robot gait control method and robot and computer readable storage medium using the same

US11878426B2 · kind B2 · utility

Assignee

• UBTECH ROBOTICS CORP LTD · CN

Inventors

• Xingxing Ma · Lo Wu, CN
• Chunyu Chen · Qingzhou City, CN
• Ligang Ge · Nanhu, CN
• Hongge Wang · Lo Wu, CN
• Mingqiang Huang · Lo Wu, CN
• Jiangchen Zhou · Lo Wu, CN
• Yizhang Liu · Lo Wu, CN
• Zheng Xie · Lo Wu, CN
• Youjun Xiong · Nanhu, CN

Key dates

• Filing date: May 6, 2021
• Grant date: Jan 23, 2024
• Expiry date: May 24, 2042

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/40264
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A biped robot gait control method as well as a robot and a computer readable storage medium are provided. During the movement, the system obtains a current supporting pose of a current supporting leg of the biped robot, and calculates a relative pose between the supporting legs based on the current supporting pose and a preset ideal supporting pose of a next step. The system further calculates modified gait parameters of the next step based on the relative pose between the two supporting legs and a joint distance between left and right ankle joints in an initial state of the biped robot when standing. Finally, the system controls the next supporting leg to move according to the modified gait parameters.