Title:
METHOD AND APPARATUS FOR DETECTING LANDING OF SWING LEG OF ROBOT, AND ROBOT
Document Type and Number:
WIPO Patent Application WO/2022/179209
Kind Code:
A1
Abstract:
A method for detecting landing of a swing leg of a robot, comprising: when a robot is swinging, obtaining torque borne by joints of a swing leg; estimating a force of a foot end of the swing leg on the basis of the torque borne by the joints of the swing leg, and calculating a force change rate of the foot end of the swing leg in the direction of gravity according to the force of the foot end; determining whether a preset number of consecutive force change rates are all greater than a preset threshold, and when it is determined that all the force change rates are greater than the preset threshold, determining that the swing leg is landed. According to the method, no accurate force of a sole needs to be known when implementing the detection of landing; and the method is simple and easy to implement, has universality and has no dependence on the magnitude of mass of a leg of the robot. Also provided are an apparatus for detecting landing of a swing leg of a robot, and a robot.
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Inventors:
WANG JIAJUN (CN)
ZHAO MINGGUO (CN)
XIONG YOUJUN (CN)
ZHAO MINGGUO (CN)
XIONG YOUJUN (CN)
Application Number:
PCT/CN2021/132112
Publication Date:
September 01, 2022
Filing Date:
November 22, 2021
Export Citation:
Assignee:
UBTECH ROBOTICS CORP LTD (CN)
International Classes:
B25J13/08; B25J9/16; B25J17/02; B25J18/00; B62D57/032
Foreign References:
| CN112975966A | 2021-06-18 | |||
| CN111880544A | 2020-11-03 | |||
| JP2019202406A | 2019-11-28 | |||
| CN112000134A | 2020-11-27 | |||
| CN103770111A | 2014-05-07 | |||
| CN111702757A | 2020-09-25 |
Attorney, Agent or Firm:
CHOFN INTELLECTUAL PROPERTY (CN)
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