US 12,257,725 B2
Jumping motion control method for biped robot, biped robot and computer-readable storage medium
Chunyu Chen, Shenzhen (CN); Ligang Ge, Shenzhen (CN); Yizhang Liu, Shenzhen (CN); Jiangchen Zhou, 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 Oct. 31, 2022, as Appl. No. 17/976,904.
Claims priority of application No. 202111528491.3 (CN), filed on Dec. 14, 2021.
Prior Publication US 2023/0182307 A1, Jun. 15, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01); B62D 57/032 (2006.01)
CPC B25J 9/1692 (2013.01) [B25J 9/1664 (2013.01); B25J 13/089 (2013.01); B62D 57/032 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented jumping motion control method for a biped robot, comprising:
before feet of the biped robot leaves a support surface, estimating a motion trajectory of the biped robot that leaves the support surface according to a period of time when the biped robot stays or flips in the air;
calculating a first motion angle of each joint of legs of the biped robot according to the motion trajectory and inverse kinematics;
determining a constraint condition according to a motion type to which an action to be performed by the biped robot corresponds;
optimizing the first motion angles according to the constraint condition to obtain a second motion angle of each joint of legs of the biped robot; and
controlling a jumping motion of the biped robot according to the second motion angles;
wherein estimating the motion trajectory of the biped robot that leaves the support surface according to the period of time when the biped robot stays or flips in the air comprises:
when the motion type to which the action to be performed by the biped robot corresponds is flipping in the air, determining the period of time when the biped robot flips in the air according to an angular velocity corresponding to the flipping to be performed by the biped robot; and
according to the period of time when the biped robot flips in the air, calculating a velocity in a vertical direction of the biped robot when the biped robot leaves the support surface to estimate the trajectory of the biped robot that leaves the support surface.