The invention belongs to the field of robots, and provides a foot lifting gait planning method of a foot type robot, a controller and the foot type robot. According to the foot-lifting gait planning method for the foot-type robot, a same-speed retreating method is adopted, movement of a swing leg and movement of a supporting leg in the front-back direction are associated, it is guaranteed that the movement speed of the swing leg relative to a trunk is the same as the movement speed of the supporting leg relative to the trunk, and therefore it is guaranteed that the swing leg is vertically lifted when the foot-type robot advances; and the influence on balance caused by kicking the ground facade is avoided.
本发明属于机器人领域,提供了一种足式机器人抬脚步态规划方法、控制器及足式机器人。其中,足式机器人抬脚步态规划方法采用同速后撤法,使摆动腿与支撑腿在前后方向的运动相关联,保证摆动腿相对于躯干的移动速度与支撑腿相对于躯干的移动速度相同,从而保证足式机器人在前进时摆动腿竖直抬起,避免踢到地面的立面影响平衡。
Foot lifting gait planning method of foot type robot, controller and foot type robot
一种足式机器人抬脚步态规划方法、控制器及足式机器人
2022-07-01
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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