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。
A method of planning a swing trajectory for a leg of a robot includes receiving an initial position of a leg of the robot, an initial velocity of the leg, a touchdown location, and a touchdown target time. The method also includes determining a difference between the initial position and the touchdown location and separating the difference between the initial position and the touchdown location into a horizontal motion component and a vertical motion component. The method also includes selecting a horizontal motion policy and a vertical motion policy to satisfy the motion components. Each policy produces a respective trajectory as a function of the initial position, the initial velocity, the touchdown location, and the touchdown target time. The method also includes executing the selected policies to swing the leg of the robot from the initial position to the touchdown location at the touchdown target time.
腿摆动轨迹
2024-09-17
Patent
Electronic Resource
Chinese