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Title:
CENTROID TRAJECTORY GENERATION METHOD AND APPARATUS, COMPUTER READABLE STORAGE MEDIUM, AND ROBOT
Document Type and Number:
WIPO Patent Application WO/2022/247115
Kind Code:
A1
Abstract:
The present application relates to the technical field of robots, and specifically relates to a centroid trajectory generation method and apparatus, a computer readable storage medium, and a robot. Determining a centroid actual pose, a left foot pose and a right foot pose of a robot (S301); according to the centroid actual pose and the left foot pose, determining a first pose tracking vector of the robot; according to the centroid actual pose and the right foot pose, determining a second pose tracking vector of the robot (S302); and according to the first pose tracking vector and the second pose tracking vector, controlling a centroid expected pose of the robot to alternately track the left foot pose and the right foot pose, so as to generate a centroid expected trajectory of the robot (S303). In the present application, a centroid trajectory is generated according to the control idea of the centroid alternately tracking the two feet, thereby effectively improving the stability of the robot.

Inventors:
BAI JIE (CN)
GE LIGANG (CN)
CHEN CHUNYU (CN)
LIU YIZHANG (CN)
XIONG YOUJUN (CN)
Application Number:
PCT/CN2021/125400
Publication Date:
December 01, 2022
Filing Date:
October 21, 2021
Export Citation:
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Assignee:
UBTECH ROBOTICS CORP LTD (CN)
International Classes:
G06F17/10; G06F30/20; G06F30/17; G06F111/10
Domestic Patent References:
WO2007032120A12007-03-22
Foreign References:
CN113204892A2021-08-03
US20190196477A12019-06-27
CN107315346A2017-11-03
CN108237532A2018-07-03
CN112720462A2021-04-30
Other References:
WANG SHENQUAN;XIE DONGDONG: "Trajectory Tracking Control of Mobile Robot Based on Centroid Deviation", MACHINE TOOL & HYDRAULICS, vol. 47, no. 15, 15 August 2019 (2019-08-15), pages 11 - 15, XP093007778, ISSN: 1001-3881, DOI: 10.3969/j.issn.1001-3881.2019.15.003
Attorney, Agent or Firm:
SHENZHEN ZHONGYI UNION INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
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