Control device and method for trajectory planning of turning motion of legged robot and computer-readable storage medium
AssigneeUbtech Robotics Corp Ltd
InventorBo Tao
Life of this patent
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Abstract
A method for trajectory planning of a turning motion of a spider-type quadruped robot includes: acquiring a desired turning angle of the spider-type quadruped robot in a floating base coordinate system during a current gait cycle; calculating a desired displacement for each support leg of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle based on the desired turning angle; and performing discrete trajectory planning in the floating base coordinate system based on the desired displacements of the support legs, to obtain a desired turning motion trajectory for each of the support legs of the spider-type quadruped robot in the floating base coordinate system during the current gait cycle.
Claims20
A computer-implemented method for trajectory planning of a turning motion of a quadruped robot, the method comprising:
- acquiring a desired turning angle of the quadruped robot in a floating base coordinate system during a current gait cycle, wherein a single gait cycle of the quadruped robot comprises a continuous first diagonal leg support period and a second diagonal leg support period, and wherein legs of the quadruped robot are divided into diagonal pairs, and when either diagonal pair is in a support state, a remaining diagonal pair is in a swinging state;
- calculating a desired displacement for each of two diagonally distributed support legs of the quadruped robot in the floating base coordinate system during the current gait cycle based on the desired turning angle;
- performing discrete trajectory planning in the floating base coordinate system based on the desired displacements of the two diagonally distributed support legs, to obtain a desired turning motion trajectory for each of the two diagonally distributed support legs of the quadruped robot in the floating base coordinate system during the current gait cycle;
- and
- controlling the quadruped robot based on the desired turning motion trajectory for each of the two diagonally distributed support legs of the quadruped robot.
A control device for a quadruped robot, comprising:
- one or more processors;
- and
- a memory coupled to the one or more processors, the memory storing programs that, when executed by the one or more processors, cause performance of operations comprising:
- acquiring a desired turning angle of the quadruped robot in a floating base coordinate system during a current gait cycle, wherein a single gait cycle of the quadruped robot comprises a continuous first diagonal leg support period and a second diagonal leg support period, and wherein legs of the quadruped robot are divided into diagonal pairs, and when either diagonal pair is in a support state, a remaining diagonal pair is in a swinging state;
- calculating a desired displacement for each of two diagonally distributed support legs of the quadruped robot in the floating base coordinate system during the current gait cycle based on the desired turning angle;
- performing discrete trajectory planning in the floating base coordinate system based on the desired displacements of the two diagonally distributed support legs, to obtain a desired turning motion trajectory for each of the two diagonally distributed support legs of the quadruped robot in the floating base coordinate system during the current gait cycle;
- and
- controlling the quadruped robot based on the desired turning motion trajectory for each of the two diagonally distributed support legs of the quadruped robot.
A non-transitory computer-readable storage medium storing instructions that, when executed by at least one processor of a control device for a quadruped robot, cause the at least one processor to perform a method for controlling the quadruped robot, the method comprising:
- acquiring a desired turning angle of the quadruped robot in a floating base coordinate system during a current gait cycle, wherein a single gait cycle of the quadruped robot comprises a continuous first diagonal leg support period and a second diagonal leg support period, and wherein legs of the quadruped robot are divided into diagonal pairs, and when either diagonal pair is in a support state, a remaining diagonal pair is in a swinging state;
- calculating a desired displacement for each of two diagonally distributed support legs of the quadruped robot in the floating base coordinate system during the current gait cycle based on the desired turning angle;
- performing discrete trajectory planning in the floating base coordinate system based on the desired displacements of the two diagonally distributed support legs, to obtain a desired turning motion trajectory for each of the two diagonally distributed support legs of the quadruped robot in the floating base coordinate system during the current gait cycle;
- and
- controlling the quadruped robot based on the desired turning motion trajectory for each of the two diagonally distributed support legs of the quadruped robot.
Dependencies are inferred from the claim text.