Gait planning method, robot and computer-readable storage medium

US12304084B2 · kind B2 · utility

Assignee

• UBTECH ROBOTICS CORP LTD · CN

Inventors

• Qiuyue Luo · Lo Wu, CN
• Yizhang Liu · Lo Wu, CN
• Ligang Ge · Nanhu, CN
• Chunyu Chen · Qingzhou City, CN
• Jiangchen Zhou · Lo Wu, CN
• Meng Yan · Hubei, CN

Key dates

• Filing date: Dec 29, 2022
• Grant date: May 20, 2025
• Expiry date: Aug 18, 2043

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y02T10/40
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A gait planning method for a robot includes: constructing a first phase variable of a gait planning of the robot, wherein the first phase variable is a function of two position components of a torso of the robot on a horizontal plane; constructing a second phase variable based on the first phase variable, wherein the second phase variable is a function of the first phase variable, and a slope of the second phase variable is smaller than a slope of the first phase variable when a foot of a swing leg of the robot starts to touch a support surface; and performing the gait planning on the foot of the swing leg using the second phase variable to obtain a planned trajectory of the foot of the swing leg.