Title:
ROBOT STEPPING CONTROL METHOD AND APPARATUS, ROBOT CONTROL DEVICE AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2022/199080
Kind Code:
A1
Abstract:
A robot stepping control method and apparatus, a robot control device and a storage medium. The method comprises: detecting whether a bipedal robot is currently in a non-balanced state (S210); when it is detected that the bipedal robot is currently in the non-balanced state, correspondingly acquiring the current predictive machine body balance step length of the bipedal robot (S220); performing smoothing transition processing on the predictive machine body balance step length according to the current moving step length of the bipedal robot, so as to obtain an expected balance step length corresponding to the predictive machine body balance step length (S230); then, obtaining a planned leg trajectory corresponding to the expected balance step length (S240); and finally, controlling the current swinging leg of the bipedal robot to move according to the planned leg trajectory (S250). The robot stepping control apparatus comprises: a machine body balance detection module (110), a predictive step length acquisition module (120), a step length smoothing processing module (130), a leg trajectory planning module (140) and a leg movement control module (150). The robot control device (10) comprises a processor (12) and a memory (11). A computer program is stored in the storage medium. A bipedal robot is enabled to restore to a balanced state, and a step phenomenon of robot stepping is avoided, thereby improving the operating reliability of the robot.
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Inventors:
CHEN CHUNYU (CN)
BAI JIE (CN)
LIU YIZHANG (CN)
GE LIGANG (CN)
XIE ZHENG (CN)
XIONG YOUJUN (CN)
BAI JIE (CN)
LIU YIZHANG (CN)
GE LIGANG (CN)
XIE ZHENG (CN)
XIONG YOUJUN (CN)
Application Number:
PCT/CN2021/131892
Publication Date:
September 29, 2022
Filing Date:
November 19, 2021
Export Citation:
Assignee:
UBTECH ROBOTICS CORP LTD (CN)
International Classes:
G05D1/02; B62D57/032
Domestic Patent References:
| WO2020233050A1 | 2020-11-26 |
Foreign References:
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Other References:
ZHOU JIANGCHEN, XIAOHUI XIAO: "Walking gaits planning with variable footstep length of biped robot based on variable center-of-mass height", JOURNAL OF CENTRAL SOUTH UNIVERSITY(SCIENCE AND TECHNOLOGY), ZHONGNAN DAXUE, CHANGSHA, CN, vol. 51, no. 4, 26 April 2020 (2020-04-26), CN , pages 944 - 952, XP055970105, ISSN: 1672-7207, DOI: 10.11817/j.issn.1672-7207.2020.04.009
SATOSHI, I ET AL.: "Design and adaptive balance control of a biped robot with fewer actuators for slope walking", MECHATRONICS, vol. 49, 28 February 2018 (2018-02-28), pages 56 - 66, XP085415510, ISSN: 0957-4158, DOI: 10.1016/j.mechatronics.2017.11.007
SATOSHI, I ET AL.: "Design and adaptive balance control of a biped robot with fewer actuators for slope walking", MECHATRONICS, vol. 49, 28 February 2018 (2018-02-28), pages 56 - 66, XP085415510, ISSN: 0957-4158, DOI: 10.1016/j.mechatronics.2017.11.007
Attorney, Agent or Firm:
CHOFN INTELLECTUAL PROPERTY (CN)
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