Biped robot and its moving method, apparatus and storage medium
AssigneeUbtech Robitics Corp.
InventorsYoujun XIONG, Chunyu CHEN, Yizhang LIU, Ligang GE, Zheng XIE, Jianxin PANG
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Abstract
The present disclosure discloses a biped robot and its moving method and apparatus. The method includes: calculating a motion state of each servo of legs of a biped robot according to an actual trajectory of the biped robot, and controlling the servo to rotate to the corresponding motion state. The scheme enables the biped robot to achieve flexible controls to the biped robot according to the received real-time external feedbacks.
Claims14
A computer-implemented moving method for a biped robot, comprising executing on a processor steps of:
- obtaining an actual movement trajectory Xd_new of the biped robot;
- calculating target angles θlb and θrb of servos of two legs of the biped robot, respectively, according to the actual movement trajectory Xd_new, wherein each leg of the biped robot is composed of a plurality of servos connected sequentially in series;
- and
- controlling each servo of the two legs of the biped robot to rotate to angles corresponding to the target angles θlb and θrb, respectively.
A moving apparatus for a biped robot, comprising:
- an obtaining module configured to obtain an actual movement trajectory Xd_new of the biped robot;
- a calculation module configured to calculate target angles θlb and θrb of servos of two legs of the biped robot, respectively, according to the actual movement trajectory Xd_new, wherein each leg of the biped robot is composed of a plurality of servos connected sequentially in series;
- and
- a control module configured to control each servo of the two legs of the biped robot to rotate to angles corresponding to the target angles θlb and θrb, respectively.
A biped robot comprising:
- a memory;
- and
- a processor;
- wherein the memory stores a computer program executable on the processor, and the computer program comprises:
- instructions for obtaining an actual movement trajectory Xd_new of the biped robot;
- instructions for calculating target angles θlb and θrb of servos of two legs of the biped robot, respectively, according to the actual movement trajectory Xd_new, wherein each leg of the biped robot is composed of a plurality of servos connected sequentially in series;
- and
- instructions for controlling each servo of the two legs of the biped robot to rotate to angles corresponding to the target angles θlb and θrb, respectively.
(canceled)
Dependencies are inferred from the claim text.