Jumping motion control method for biped robot, biped robot and computer-readable storage medium
US12257725B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 31, 2022 |
| Grant date | Mar 25, 2025 |
| Priority date | — |
| Expiry date | Jul 31, 2043 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D57/032
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A jumping motion control method for a biped robot includes: before feet of the biped robot leaves a support surface, estimating a motion trajectory of the biped robot that leaves the support surface according to a period of time when the biped robot stays or flips in the air; calculating a first motion angle of each joint of legs of the biped robot according to the motion trajectory and inverse kinematics; determining a constraint condition according to a motion type to which an action to be performed by the biped robot corresponds; optimizing the first motion angles according to the constraint condition to obtain a second motion angle of each joint of legs of the biped robot; and controlling a jumping motion of the biped robot according to the second motion angles.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.