Gait trajectory control method and gait trajectory system

Abstract

Disclosed herein is a gait trajectory system and a gait trajectory control method. The gait trajectory system, comprises: a controller configured to: for a step of a user: using a dynamic movement primitives-based trajectory generation module, determine a reference trajectory based on a set of initial joint angles, a goal offset, and a forcing term; update a vector table based on the reference trajectory, wherein the vector table includes multiple sets of joint angles corresponding to at least one leg of the user; determine from the vector table a set of closest joint angles closest to a set of current joint angles; and determine from the vector table a set of target joint angles based on the set of current joint angles and a predetermined angular distance.

Dependencies are inferred from the claim text.