A method for controlling motion of a two-legged robot includes: acquiring gait parameters of the two-legged robot; inputting the gait parameters to a preset gait planning model; determining gait trajectory parameters of the two-legged robot based on the gait parameters through the preset gait planning model, in which the gait trajectory parameters include a center-of-mass state corresponding to a double support phase and a center-of-mass state corresponding to a single support phase, and the center-of-mass state includes a center-of-mass position and a center-of-mass movement speed; and controlling the two-legged robot to move according to the gait trajectory parameters.


    Access

    Download


    Export, share and cite



    Title :

    MOTION CONTROL METHOD AND TWO-LEGGED ROBOT


    Additional title:

    BEWEGUNGSSTEUERUNGSVERFAHREN UND ZWEIBEINIGER ROBOTER
    PROCÉDÉ DE COMMANDE DE MOUVEMENT ET ROBOT À DEUX JAMBES


    Contributors:

    Publication date :

    2024-02-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    Motion control method and device for multi-legged robot

    XU BO / YU CHAO / BAO YULONG | European Patent Office | 2024

    Free access

    LEGGED ROBOT AND METHOD FOR CONTROLLING LEGGED ROBOT

    TAKASUGI NORIAKI | European Patent Office | 2024

    Free access

    Legged Robot

    KENNEALLY GAVIN / PARIKH JIREN | European Patent Office | 2024

    Free access

    Legged Robot

    KENNEALLY GAVIN / PARIKH JIREN | European Patent Office | 2022

    Free access

    LEGGED ROBOT

    KENNEALLY GAVIN / PARIKH JIREN | European Patent Office | 2020

    Free access