The invention discloses a method and a device for planning a foot end track of a foot type robot and the foot type robot, which are used for enabling the robot to stably go up and down steps and cross obstacles, reducing collision and improving the stability of the robot in the process of going up and down the steps and cross the obstacles. The method comprises the steps that the swing height and the swing length of the foot end of at least one leg in a first swing phase from lifting to falling to a second step from a first step are determined; if the tread of the second step is higher than the tread of the first step, determining a first series of track traction points corresponding to the foot end according to the swing height and the swing length; generating a first foot end track according to the first series of track traction points to control the foot end to fall on the second step; if the tread of the second step is lower than the tread of the first step, determining a second series of track traction points corresponding to the foot end according to the swing height and the swing length; and generating a second foot end track according to the second series of track traction points to control the foot end to fall on the second step.
本申请公开了一种足式机器人足端轨迹规划的方法、装置及足式机器人,用于使机器人能够平稳地上下台阶以及跨越障碍物,减少磕碰,提高机器人在上下台阶以及跨越障碍物过程中的稳定性。本申请方法包括:确定至少一条腿的足端在第一摆动相,从第一台阶抬起至落到第二台阶的摆动高度和摆动长度;若第二台阶的踏面比第一台阶的踏面高,则根据摆动高度和摆动长度确定足端对应的第一系列轨迹牵引点;根据第一系列轨迹牵引点生成第一足端轨迹控制足端落足于第二台阶;若第二台阶的踏面比第一台阶的踏面低,则根据摆动高度和摆动长度确定足端对应的第二系列轨迹牵引点;根据第二系列轨迹牵引点生成第二足端轨迹控制足端落足于第二台阶。
Foot end track planning method and device for foot type robot and foot type robot
一种足式机器人足端轨迹规划的方法、装置及足式机器人
2022-11-15
Patent
Electronic Resource
Chinese
Foot lifting gait planning method of foot type robot, controller and foot type robot
European Patent Office | 2022
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