A method for controlling motion of a legged robot includes determining one or more candidate landing points for each foot of the robot. The method further includes determining a first correlation between a center of mass position change parameter, candidate landing points, and foot contact force. The method further includes determining, under a constraint condition set and based on the first correlation, a target center of mass position change parameter, a target step order, and a target landing point for each foot selected among the one or more candidate landing points for the respective foot, the constraint condition set constraining a step order. The method further includes controlling, according to the target center of mass position change parameter, the target step order, and the target landing point for each foot, motion of the legged robot in the preset period.


    Access

    Download


    Export, share and cite



    Title :

    CONTROLLING FOOT LANDING POINTS AND STEP ORDER OF LEGGED ROBOT BASED ON FOOT CONTACT FORCE


    Contributors:
    ZHENG YU (author) / JIANG XINYANG (author) / CHI WANCHAO (author) / LING YONGGEN (author) / ZHANG SHENGHAO (author) / ZHANG ZHENGYOU (author)

    Publication date :

    2023-03-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B62D MOTOR VEHICLES , Motorfahrzeuge



    FOOT FOR LEGGED ROBOT

    GÜNTHER FABIAN / SEKANINA DAVID / VIJAYAN ARAVIND ELANJIMATTATHIL et al. | European Patent Office | 2023

    Free access

    Parallel double-foot legged robot

    YUAN LI / GUO ZIHAN | European Patent Office | 2024

    Free access

    Foot earth contact detection mechanism suitable for legged robot

    DING XILUN / PENG SAIJIN / YANG FAN et al. | European Patent Office | 2015

    Free access

    FOOT STRUCTURE OF LEGGED MOBILE ROBOT, AND LEGGED MOBILE ROBOT

    OBANA KOICHI / KODA YUTA | European Patent Office | 2022

    Free access