Method for controlling legged robot, robot and computer-readable storage medium
US12138803B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 28, 2022 |
| Grant date | Nov 12, 2024 |
| Priority date | — |
| Expiry date | Aug 9, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39082
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method for controlling a legged robot includes: in response to detection of a collision event associated with a foot of a swing leg of the biped robot, terminating a trajectory component planning of the swing leg in a collision direction; calculating a position offset in the collision direction according to an external force that is received by the foot of the swing leg in the collision direction and obtained in real time, based on a foot dragging control mode, and determining a replanned trajectory component in the collision direction based on the position offset; and controlling the swing leg to move based on the replanned trajectory component in the collision direction and a desired trajectory component of the swing leg in a non-collision direction.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.