Title:
ROBOT AND GAIT CONTROL METHOD AND APPARATUS THEREFOR
Document Type and Number:
WIPO Patent Application WO/2022/205840
Kind Code:
A1
Abstract:
A robot (5) and a gait control method and apparatus therefor, the method comprising: acquiring state information of a robot (5) at the current moment; according to the state information and in combination with a reference trajectory of the robot (5), determining an optimization objective function and a constraint model which correspond to a preset gait optimization model of three particles; according to the optimization objective function and the constraint model, determining an optimized torso centroid trajectory and swing leg trajectory of the robot (5); and performing gait control on the robot (5) according to the optimized torso centroid trajectory and swing leg trajectory. Compared with a method of simply adjusting foothold positions, by means of the present method in which a swing leg trajectory and a torso centroid trajectory are jointly used during gait control, external interference can be more strongly withstood, and the movement stability of a robot is improved.
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Inventors:
ZHOU JIANGCHEN (CN)
MA XINGXING (CN)
LIU YIZHANG (CN)
CHEN CHUNYU (CN)
XIONG YOUJUN (CN)
MA XINGXING (CN)
LIU YIZHANG (CN)
CHEN CHUNYU (CN)
XIONG YOUJUN (CN)
Application Number:
PCT/CN2021/125039
Publication Date:
October 06, 2022
Filing Date:
October 20, 2021
Export Citation:
Assignee:
UBTECH ROBOTICS CORP LTD (CN)
International Classes:
B25J9/16; B62D57/032; G05B13/04
Foreign References:
| CN113134833A | 2021-07-20 | |||
| CN108333931A | 2018-07-27 | |||
| CN106292288A | 2017-01-04 | |||
| CN108345211A | 2018-07-31 | |||
| CN101847009A | 2010-09-29 | |||
| US20150120044A1 | 2015-04-30 |
Attorney, Agent or Firm:
SHENZHEN ZHONGYI UNION INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
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