Title:
CENTROID TRAJECTORY GENERATION METHOD AND APPARATUS, COMPUTER READABLE STORAGE MEDIUM, AND ROBOT
Document Type and Number:
WIPO Patent Application WO/2022/247116
Kind Code:
A1
Abstract:
The present application relates to the technical field of robots, and specifically relates to a centroid trajectory generation method and apparatus, a computer readable storage medium, and a robot. The method comprises: determining a centroid position, a centroid velocity, and a centroid acceleration of a robot at a first planned time; according to the centroid velocity and the centroid acceleration of the robot at the first planned time, calculating a centroid trajectory increment of the robot; according to the centroid position of the robot at the first planned time and the centroid trajectory increment, calculating the centroid position of the robot at a second planned time. In the present application, a means for incremental centroid trajectory generation is introduced, that is, a centroid trajectory increment is calculated on the basis of a previous centroid velocity and acceleration, and a new centroid position is obtained on the basis of the previous centroid position combined with the centroid trajectory increment, thereby greatly simplifying the calculation amount required in the centroid trajectory generation process, improving the calculation efficiency, and achieving good real-time performance.
Inventors:
BAI JIE (CN)
CHEN CHUNYU (CN)
GE LIGANG (CN)
LIU YIZHANG (CN)
XIONG YOUJUN (CN)
CHEN CHUNYU (CN)
GE LIGANG (CN)
LIU YIZHANG (CN)
XIONG YOUJUN (CN)
Application Number:
PCT/CN2021/125402
Publication Date:
December 01, 2022
Filing Date:
October 21, 2021
Export Citation:
Assignee:
UBTECH ROBOTICS CORP LTD (CN)
International Classes:
G06F30/20; B62D57/032; G05D1/08
Foreign References:
| CN112731952A | 2021-04-30 | |||
| CN112025697A | 2020-12-04 | |||
| CN108345211A | 2018-07-31 | |||
| CN109703645A | 2019-05-03 | |||
| US20150266487A1 | 2015-09-24 | |||
| CN113283082A | 2021-08-20 |
Attorney, Agent or Firm:
SHENZHEN ZHONGYI UNION INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
Download PDF: