US 11,926,056 B2
Gait planning method and robot using the same and computer readable storage medium
Jie Bai, Shenzhen (CN); Yizhang Liu, Shenzhen (CN); Ligang Ge, Shenzhen (CN); Chunyu Chen, Shenzhen (CN); Qiuyue Luo, Shenzhen (CN); and Youjun Xiong, Shenzhen (CN)
Assigned to UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed by UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed on Feb. 23, 2022, as Appl. No. 17/678,030.
Application 17/678,030 is a continuation of application No. PCT/CN2021/125047, filed on Oct. 20, 2021.
Claims priority of application No. 202110479948.X (CN), filed on Apr. 30, 2021.
Prior Publication US 2022/0355479 A1, Nov. 10, 2022
Int. Cl. G06F 17/00 (2019.01); B25J 9/16 (2006.01)
CPC B25J 9/1664 (2013.01) 20 Claims
OG exemplary drawing
 
1. A computer-implemented gait planning method for a robot having two legs including a left leg and a right leg, comprising steps of:
determining a reference leg length l0 and a leg length variation range A of the robot;
performing a trajectory planning on a leg length of at least one of the legs of the robot using an equation including the reference leg length, the leg length variation range, and a preset recurrent excitation function of a time variable t.