Center of mass trajectory generating method, robot and computer-readable storage medium

US12097621B2 · kind B2 · utility

Assignee

• UBTECH ROBOTICS CORP LTD · CN

Inventors

• Jie Bai · Lo Wu, CN
• Ligang Ge · Nanhu, CN
• Chunyu Chen · Qingzhou City, CN
• Yizhang Liu · Lo Wu, CN
• Youjun Xiong · Nanhu, CN

Key dates

• Filing date: Apr 22, 2022
• Grant date: Sep 24, 2024
• Expiry date: May 23, 2043

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B62D57/032
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A method for generating a center of mass (CoM) trajectory includes determining an actual pose of a center of mass (CoM), a pose of a left foot, and a pose of a right pose of a robot; determining a first pose tracking vector of the robot according to the actual pose of the CoM and the pose of the left foot, and determining a second pose tracking vector of the robot according to the actual pose of the CoM and the pose of the right foot; and controlling a desired pose of the CoM of the robot to alternately track the pose of the left foot and the pose of the right foot, according to the first pose tracking vector and the second pose tracking vector, so as to generate a desired CoM trajectory of the robot.