Stepping down trajectory planning method, robot using the same, and computer readable storage medium

US12122468B2 · kind B2 · utility

Assignee

• UBTECH ROBOTICS CORP LTD · CN

Inventors

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

Key dates

• Filing date: Dec 27, 2021
• Grant date: Oct 22, 2024
• Expiry date: Apr 5, 2043

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B25J9/1664
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A stepping down trajectory planning method as well as a robot using the same and a computer readable storage medium are provided. The method includes: dividing a stepping down process of the robot into a plurality of planned stages; adjusting a start position of a swing leg of the robot according to an ankle-to-heel distance, where the ankle-to-heel distance is a horizontal distance between an ankle joint of the swing leg of the robot and a heel of the swing leg of the robot; determining an initial state and an end state of the swing leg in each of the planned stages according to the start position; and obtaining a planned trajectory of the swing leg by performing a curve fitting on the swing leg in each of the planned stages the initial state and the end state.