Login| Sign Up| Help| Contact|

Patent Searching and Data


Title:
ROBOT STATE ESTIMATION METHOD, APPARATUS, READABLE STORAGE MEDIUM, AND ROBOT
Document Type and Number:
WIPO Patent Application WO/2022/134143
Kind Code:
A1
Abstract:
Provided are a robot state estimation method, apparatus, computer-readable storage medium, and robot. The method comprises: obtaining information of the force on a left foot and information of the force on a right foot of a robot (S101); according to said information of the force on the left foot and said information of the force on the right foot, calculating the bipedal zero moment point of said robot in a world coordinate system (S102); on the basis of a linear inverted pendulum model, calculating the center-of-mass position of the robot (S103). In the method, a new linear inverted pendulum model is constructed in advance, and the bipedal zero moment point of the robot is used as the support point for the model; the effect of the change in position of the bipedal zero moment point on the position of the center of mass is fully taken into consideration, and more accurate estimation results can be obtained on the basis of the described model.

Inventors:
GE LIGANG (CN)
LIU YIZHANG (CN)
CHEN CHUNYU (CN)
XIE ZHENG (CN)
XIONG YOUJUN (CN)
Application Number:
PCT/CN2020/140560
Publication Date:
June 30, 2022
Filing Date:
December 29, 2020
Export Citation:
Click for automatic bibliography generation   Help
Assignee:
UBTECH ROBOTICS CORP LTD (CN)
International Classes:
B62D57/032; G01M1/12
Foreign References:
CN105511465A2016-04-20
CN111015653A2020-04-17
CN103149933A2013-06-12
CN110286679A2019-09-27
EP0856457B12002-05-08
KR20100097881A2010-09-06
US20190070729A12019-03-07
Attorney, Agent or Firm:
SHENZHEN ZHONGYI UNION INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
Download PDF: