A method (1700) of planning a swing trajectory (132) for a leg (12) of a robot (10) includes receiving an initial position (50) of the robot leg, an initial speed (52) of the leg, a landing position (62), and a landing target time (64). The method includes determining a difference between an initial position and a landing position and decomposing the difference into a horizontal motion component and a vertical motion component. The method also includes selecting a horizontal motion strategy (210) and a vertical motion strategy (610) to satisfy the motion component. Each strategy produces a respective trajectory as a function of an initial position, an initial speed, a landing position, and a landing target time. The method also includes running the selected strategy to swing the leg of the robot from the initial position to the landing position at the landing target time.

    一种为机器人(10)的腿(12)规划摆动轨迹(132)的方法(1700)包括接收机器人腿的初始位置(50)、腿的初始速度(52)、着地位置(62)和着地目标时间(64)。所述方法包括确定初始位置与着地位置之间的差异并将所述差异分解成水平运动分量和垂直运动分量。所述方法还包括选择水平运动策略(210)和垂直运动策略(610)以满足运动分量。每个策略产生作为初始位置、初始速度、着地位置和着地目标时间的函数的相应的轨迹。所述方法还包括运行所选择的策略以在着地目标时间将机器人的腿从初始位置摆动到着地位置。


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    Titel :

    Leg swing trajectory


    Weitere Titelangaben:

    腿摆动轨迹


    Beteiligte:
    WHITEMAN EVAN (Autor:in)

    Erscheinungsdatum :

    2022-04-26


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS




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