Method and apparatus for generating motion trajectory, robot, electronic device and storage medium
AssigneeBeijing Xiaomi Robot Technology Co., Ltd.
InventorJiajun Wang
Life of this patent
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Abstract
A method for generating motion trajectory includes: constructing a first joint model of a robot, where the quantity of dimensions of the first joint model is smaller than the quantity of dimensions of a full-dimensional joint model of the robot; determining an action sequence of a target motion based on the first joint model, where the action sequence includes a plurality of action stages and switching events between the adjacent action stages; and determining a trajectory of the target motion according to the action sequence.
Claims18
A method for generating motion trajectory, comprising:
- constructing a first joint model of a robot, wherein a quantity of dimensions of the first joint model is smaller than a quantity of dimensions of a full-dimensional joint model of the robot;
- determining an action sequence of a target motion based on the first joint model, wherein the action sequence comprises a plurality of action stages and switching events between adjacent action stages;
- and
- determining a trajectory of the target motion according to the action sequence;
- wherein determining the action sequence of the target motion based on the first joint model comprises:
- determining, according to the target motion, an event that a contact state between at least one contact point of the first joint model and a ground changes as a switching event, and determining a motion between the adjacent switching events as an action stage.
A robot, comprising a memory and a processor, wherein the memory is configured to store computer instructions capable of being run on the processor, and when executing the computer instructions, the processor is configured to:
- construct a first joint model of a robot, wherein a quantity of dimensions of the first joint model is smaller than a quantity of dimensions of a full-dimensional joint model of the robot;
- determine an action sequence of a target motion based on the first joint model, wherein the action sequence comprises a plurality of action stages and switching events between adjacent action stages;
- and
- determine a trajectory of the target motion according to the action sequence;
- wherein the processor, when executing the computer instructions, is further configured to:
- determine, according to the target motion, an event that a contact state between at least one contact point of the first joint model and a ground changes as a switching event, and determine a motion between the adjacent switching events as an action stage.
An electronic device, comprising a memory and a processor, wherein the memory is configured to store computer instructions capable of being run on the processor, and when executing the computer instructions, the processor is configured to:
- construct a first joint model of a robot, wherein a quantity of dimensions of the first joint model is smaller than a quantity of dimensions of a full-dimensional joint model of the robot;
- determine an action sequence of a target motion based on the first joint model, wherein the action sequence comprises a plurality of action stages and switching events between adjacent action stages;
- and
- determine a trajectory of the target motion according to the action sequence;
- wherein the processor, when executing the computer instructions, is further configured to:
- determine, according to the target motion, an event that a contact state between at least one contact point of the first joint model and a ground changes as a switching event, and determine a motion between the adjacent switching events as an action stage.
Dependencies are inferred from the claim text.