A method of identifying a step (20) includes receiving a plurality of step positions (128) of a robot (100). Each respective footstep position indicates a position at which a leg (120) of the robot contacts the support surface (12). The method also includes determining a plurality of candidate footstep position pairs (212), wherein the candidate footstep position pairs include the first and second candidate footstep positions. The method further includes clustering the first candidate footstep positions into a first cluster group (222) based on the height of the first candidate footstep positions, and clustering the second candidate footstep positions into a second cluster group based on the height of the second candidate footstep positions. The method further includes generating a step model (202) by representing each cluster group as a corresponding step and depicting each step based on a respective midpoint (MP) between each adjacent cluster group.
一种识别台阶(20)的方法包括接收机器人(100)的多个脚步位置(128)。每个相应的脚步位置指示机器人的腿(120)接触支撑表面(12)的位置。该方法还包括确定多个候选脚步位置对(212),其中候选脚步位置对包括第一和第二候选脚步位置。该方法还包括基于第一候选脚步位置的高度将第一候选脚步位置聚类到第一聚类组(222),以及基于第二候选脚步位置的高度将第二候选脚步位置聚类到第二聚类组。该方法还包括通过将每个聚类组表示为对应的台阶并基于每个相邻聚类组之间的相应中点(MP)描绘每个台阶来生成台阶模型(202)。
Identifying steps from steps
从脚步中识别台阶
2023-01-31
Patent
Electronic Resource
Chinese