Title:
GAIT CORRECTION METHOD AND APPARATUS FOR BIPED ROBOT, AND COMPUTER DEVICE
Document Type and Number:
WIPO Patent Application WO/2022/105025
Kind Code:
A1
Abstract:
A gait correction method and apparatus for a biped robot, and a computer device. The method comprises: during movement, a system acquiring the current support orientation of the current support foot of a biped robot, and then calculating, according to the current support orientation and a preset ideal support orientation for the next step, a relative orientation between support feet; the system calculating, according to the relative orientation between the support feet for two steps and the distance between left and right ankle joints of the biped robot when standing in an initial state, corrected gait parameters for the next step; and the system controlling the next support foot to move according to the corrected gait parameters. During movement, the system monitors foot placement of the biped robot in real time, and accordingly adjusts, according to a preset algorithm, the gait parameters of the biped robot for the next step, so as to perform real-time tracking on ideal foot placement positions of the biped robot during movement, and to avoid deviation from a preset path caused by motion errors, thereby ensuring coordination between multiple biped robots as a group during movement.
Inventors:
MA XINGXING (CN)
CHEN CHUNYU (CN)
GE LIGANG (CN)
WANG HONGGE (CN)
HUANG MINGQIANG (CN)
ZHOU JIANGCHEN (CN)
LIU YIZHANG (CN)
XIE ZHENG (CN)
XIONG YOUJUN (CN)
CHEN CHUNYU (CN)
GE LIGANG (CN)
WANG HONGGE (CN)
HUANG MINGQIANG (CN)
ZHOU JIANGCHEN (CN)
LIU YIZHANG (CN)
XIE ZHENG (CN)
XIONG YOUJUN (CN)
Application Number:
PCT/CN2020/140576
Publication Date:
May 27, 2022
Filing Date:
December 29, 2020
Export Citation:
Assignee:
UBTECH ROBOTICS CORP LTD (CN)
International Classes:
B62D57/032; G05D1/08
Foreign References:
| CN112091984A | 2020-12-18 | |||
| CN109987169A | 2019-07-09 | |||
| CN105608309A | 2016-05-25 | |||
| CN105511465A | 2016-04-20 | |||
| JP2016117114A | 2016-06-30 | |||
| US4834200A | 1989-05-30 |
Attorney, Agent or Firm:
SHENZHEN ZHONGYI UNION INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
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