Method for foot/ground contact detection for robot, robot and computer-readable medium
AssigneeUbtech Robotics Corp Ltd
InventorsJIAJUN WANG, Mingguo Zhao, Youjun Xiong
Life of this patent
Estimating the term…
Abstract
A method for detecting contact of a swinging leg of a robot with ground includes: obtaining a torque on each joint of the swinging leg when the robot is in a swing phase; estimating a force on a foot of the swinging leg by using a force Jacobian matrix based on the torque on each joint of the swinging leg, and calculating a rate of change of force of the foot in a vertical direction according to the force on the foot; and determining that the swinging leg has contacted the ground in response to a preset consecutive number of values of the rate of change of force being greater than a preset threshold.
Claims20
A computer-implemented method for detecting contact of a swinging leg of a robot with ground, comprising:
- a) obtaining a torque on each joint of the swinging leg when the robot is in a swing phase;
- b) estimating a force on a foot of the swinging leg by using a force Jacobian matrix based on the torque on each joint of the swinging leg, and calculating a rate of change of force of the foot in a vertical direction according to the force on the foot;
- and
- c) determining that the swinging leg has contacted the ground in response to a preset consecutive number of values of the rate of change of force being greater than a preset threshold.
A legged 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:
- a) obtaining a torque on each joint of a swinging leg of the legged robot when the robot is in a swing phase;
- b) estimating a force on a foot of the swinging leg by using a force Jacobian matrix based on the torque on each joint of the swinging leg, and calculating a rate of change of force of the foot in a vertical direction according to the force on the foot;
- and
- c) determining that the swinging leg has contacted the ground in response to a preset consecutive number of values of the rate of change of force being greater than a preset threshold.
A non-transitory computer-readable storage medium storing instructions that, when executed by at least one processor of a legged robot, cause the at least one processor to perform a method, the method comprising:
- a) obtaining a torque on each joint of a swinging leg of the legged robot when the robot is in a swing phase;
- b) estimating a force on a foot of the swinging leg by using a force Jacobian matrix based on the torque on each joint of the swinging leg, and calculating a rate of change of force of the foot in a vertical direction according to the force on the foot;
- and
- c) determining that the swinging leg has contacted the ground in response to a preset consecutive number of values of the rate of change of force being greater than a preset threshold.
Dependencies are inferred from the claim text.