US 11,926,052 B2
Robot control method, computer-readable storage medium and biped robot
Chunyu Chen, Shenzhen (CN); Yizhang Liu, Shenzhen (CN); Ligang Ge, Shenzhen (CN); Zheng Xie, Shenzhen (CN); Youjun Xiong, Shenzhen (CN); and Jianxin Pang, Shenzhen (CN)
Assigned to UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed by UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed on Dec. 23, 2020, as Appl. No. 17/133,575.
Claims priority of application No. 201911377654.5 (CN), filed on Dec. 27, 2019.
Prior Publication US 2021/0197370 A1, Jul. 1, 2021
Int. Cl. B25J 9/16 (2006.01); B62D 57/032 (2006.01); G05D 1/00 (2006.01)
CPC B25J 9/163 (2013.01) [B25J 9/162 (2013.01); B25J 9/1664 (2013.01); B62D 57/032 (2013.01); G05D 1/02 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for controlling a biped robot to walk, executed by one or more processors of the biped robot, the method comprising:
acquiring distances between a center of mass (COM) of the biped robot and each of preset key points of feet of the biped robot, and acquiring an initial position of the COM of the biped robot;
calculating a position offset of the COM based on the distances;
adjusting the initial position of the COM based on the position offset of the COM to obtain a desired position of the COM of the biped robot; and
determining desired walking parameters of the biped robot based on the desired position of the COM by using a preset inverse kinematics algorithm, and controlling the biped robot to walk by using the desired walking parameters;
wherein the preset key points comprise a key point of a left foot of the biped robot and a key point of a right foot of the biped robot, the distances comprise a first distance measured between the COM and the key point of the left foot along an x-axis, a second distance measured between the COM and the key point of the left foot along a y-axis, a third distance measured between the COM and the key point of the right foot along the x-axis, and a fourth distance measured between the COM and the key point of the right foot along the y-axis; and calculating the position offset of the COM based on the distances comprises:
determining a first position offset of the COM on the x-axis based on the first distance and the third distance;
determining average distances based on the second distance and the fourth distance, wherein the average distances comprise a first average distance and a second average distance, the first average distance is an average value of values of the second distance measured in a gait cycle, and the second average distance is an average value of values of the fourth distance measured in a gait cycle; and
determining a second position offset of the COM on the y-axis based on the average distances and preset walking control parameters.