Dynamic footprint set generation method, biped robot using the same, and computer readable storage medium

US11983012B2 · kind B2 · utility

Assignee

• UBTECH ROBOTICS CORP LTD · CN

Inventors

• Xingxing Ma · Lo Wu, CN
• Chunyu Chen · Qingzhou City, CN
• Yizhang Liu · Lo Wu, CN
• Ligang Ge · Nanhu, CN
• Hongge Wang · Lo Wu, CN
• Jie Bai · Lo Wu, CN
• Jiangchen Zhou · Lo Wu, CN
• Zheng Xie · Lo Wu, CN

Key dates

• Filing date: Aug 31, 2021
• Grant date: May 14, 2024
• Expiry date: Oct 5, 2042

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B62D57/032
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A dynamic footprint set generation method, a biped robot using die same, and a computer readable storage medium are provided. The method includes: obtaining preset footprint calculation parameters; calculating a landing point position based on the preset footprint calculation parameters; determining a landing point range based on a landing point position, and performing a collision detection on the landing point range; recording the corresponding landing point position in a footprint set in response to the detection result representing there being no collision; obtaining a preset adjustment amplitude to update a preset displacement angle after the recording is completed; and returning to the calculating the landing point position until the footprint set is generated. By continuously adjusting the preset displacement angle, each landing point position is calculated accordingly, and the valid landing point positions are recorded in the footprint set, which provides more feasible landing points for navigation planning.