Gait planning method, computer-readable storage medium and robot

A non-transitory computer-readable storage medium storing one or more programs to be executed in a robot, the one or more programs, when being executed by one or more processors of the robot, causing the robot to perform processing comprising:

• performing a gait planning in each center of mass (CoM) timing period of the robot based on a variable-height linear inverted pendulum model;
• wherein performing the gait planning in each center of mass (CoM) timing period of the robot based on a variable-height linear inverted pendulum model, comprises:
• acquiring a first step length and a second step length at a beginning of each CoM timing period, wherein the first step length is a step length of the robot in a current CoM timing period, and the second step length is a step length of the robot in a previous CoM timing period;
• calculating a first height reduction amplitude and a first fluctuation amplitude of the CoM of the robot according to the first step length, wherein the first height reduction amplitude represents an amplitude of reduction in height of the CoM of the robot in the current CoM timing period, and the first fluctuation amplitude represents a vertical distance between a highest position of the CoM of the robot and a lowest position of the CoM of the robot in the current CoM timing period;
• calculating a second height reduction amplitude and a second fluctuation amplitude of the CoM of the robot according to the second step length, wherein the second height reduction amplitude represents an amplitude of reduction in height of the CoM of the robot in the previous CoM timing period, and the second fluctuation amplitude represents a vertical distance between a highest position of the CoM of the robot and a lowest position of the CoM of the robot in the previous CoM timing period;
• and
• performing a planning to the height of the CoM of the robot in the current CoM timing period, based on the first height reduction amplitude, the first fluctuation amplitude, the second height reduction amplitude, and the second fluctuation amplitude.

A robot comprising:

• one or more processors;
• a memory;
• and
• one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprises:
• instructions for performing a gait planning in each center of mass (CoM) timing period of the robot based on a variable-height linear inverted pendulum model;
• wherein performing the gait planning in each center of mass (CoM) timing period of the robot based on a variable-height linear inverted pendulum model, comprises:
• acquiring a first step length and a second step length at a beginning of each CoM timing period, wherein the first step length is a step length of the robot in a current CoM timing period, and the second step length is a step length of the robot in a previous CoM timing period;
• calculating a first height reduction amplitude and a first fluctuation amplitude of the CoM of the robot according to the first step length, wherein the first height reduction amplitude represents an amplitude of reduction in height of the CoM of the robot in the current CoM timing period, and the first fluctuation amplitude represents a vertical distance between a highest position of the CoM of the robot and a lowest position of the CoM of the robot in the current CoM timing period;
• calculating a second height reduction amplitude and a second fluctuation amplitude of the CoM of the robot according to the second step length, wherein the second height reduction amplitude represents an amplitude of reduction in height of the CoM of the robot in the previous CoM timing period, and the second fluctuation amplitude represents a vertical distance between a highest position of the CoM of the robot and a lowest position of the CoM of the robot in the previous CoM timing period;
• and
• performing a planning to the height of the CoM of the robot in the current CoM timing period, based on the first height reduction amplitude, the first fluctuation amplitude, the second height reduction amplitude, and the second fluctuation amplitude.