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Gait planning method and device, computer readable storage medium and robot

A technology for gait planning and robotics, applied in the field of robotics, to solve problems such as insufficient leg length

Active Publication Date: 2020-10-02
UBTECH ROBOTICS CORP LTD
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  • Claims
  • Application Information

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Problems solved by technology

[0003] In view of this, the embodiment of the present application provides a gait planning method, device, computer-readable storage medium, and robot to solve the problem that the existing LIPM-based gait planning method needs to keep the height of the center of mass constant. There will be problems with insufficient leg length

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  • Gait planning method and device, computer readable storage medium and robot
  • Gait planning method and device, computer readable storage medium and robot
  • Gait planning method and device, computer readable storage medium and robot

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Embodiment Construction

[0071] In order to make the purpose, features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the following The described embodiments are only some of the embodiments of the present application, but not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0072] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude one or more other features. , whole, step, operation, element, component and / or the presence or...

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Abstract

The invention belongs to the technical field of robots, and particularly relates to a gait planning method and a device, a computer readable storage medium and a robot. The gait planning method comprises the following steps: constructing a linear inverted pendulum model of the centroid height of the robot, wherein the linear inverted pendulum model of the centroid height is a model for reducing the centroid height and increasing centroid fluctuation on the basis of the linear inverted pendulum model; and based on the linear inverted pendulum model of the centroid height, performing gait planning in each centroid time sequence period of the robot. According to the invention, on the basis of a traditional linear inverted pendulum model, the height of the mass center is further reduced, the fluctuation of the mass center is increased, and the leg length required by rapid walking can be effectively provided.

Description

technical field [0001] The present application belongs to the technical field of robots, and in particular relates to a gait planning method, a device, a computer-readable storage medium and a robot. Background technique [0002] A key issue in the research of humanoid robots is the ability to maintain walking stability while increasing walking speed. The walking pattern generated based on the Linear Inverted Pendulum Mode (LIPM) is one of the most important methods for gait planning of biped robots in the prior art. However, LIPM-based gait planning methods need to keep the height of the center of mass constant, and there will be insufficient leg length when walking fast (big gait). Contents of the invention [0003] In view of this, the embodiment of the present application provides a gait planning method, device, computer-readable storage medium, and robot to solve the problem that the existing LIPM-based gait planning method needs to keep the height of the center of m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02B62D57/032
CPCG05D1/0223B62D57/032
Inventor 白杰葛利刚刘益彰熊友军庞建新
Owner UBTECH ROBOTICS CORP LTD
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