US 12,280,510 B2
Biped robot control method and biped robot using the same and computer readable storage medium
Chunyu Chen, Shenzhen (CN); Youjun Xiong, Shenzhen (CN); Yizhang Liu, Shenzhen (CN); Qiuyue Luo, Shenzhen (CN); Ligang Ge, Shenzhen (CN); Jie Bai, Shenzhen (CN); and Jiangchen Zhou, 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. 17/678,037.
Application 17/678,037 is a continuation of application No. PCT/CN2021/126709, filed on Oct. 27, 2021.
Claims priority of application No. 202110584040.5 (CN), filed on May 27, 2021.
Prior Publication US 2022/0379480 A1, Dec. 1, 2022
Int. Cl. B62D 57/00 (2006.01); B25J 9/16 (2006.01); B62D 57/032 (2006.01)
CPC B25J 9/1682 (2013.01) [B25J 9/1651 (2013.01); B25J 9/1664 (2013.01); B62D 57/032 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A computer-implemented control method for a biped robot, comprising:
providing the biped robot comprising: a processor, motion parts, a human-computer interaction device and a network access device, wherein the processor electrically coupled to the motion parts, the human-computer interaction device and the network access device;
obtaining, through the human-computer interaction device, a movement control command inputted by a user, or receiving, through the network access device, the movement control command from a user terminal;
in response to the movement control command, obtaining, through the processor, an initial distance between a centroid of a double inverted pendulum model of the biped robot and a support point of the biped robot in a lateral movement direction of the biped robot, an initial moving speed of the centroid and an initial displacement of the centroid;
calculating, through the processor, a measured value of a stable point of the double inverted pendulum model based on the initial distance and the initial moving speed;
calculating, through the processor, a control output quantity based on the initial moving speed and the measured value of the stable point;
calculating, through the processor, a desired displacement of the centroid of the double-inverted pendulum model based on the initial moving speed, the initial displacement, and the control output quantity; and
controlling, through the processor, the motion parts to drive the biped robot to move laterally according to the desired displacement;
wherein the calculating, through the processor, the measured value of the stable point of the double inverted pendulum model based on the initial distance and the initial moving speed comprises:
calculating, through the processor, the measured value of the stable point of the double-inverted pendulum model based on the initial distance, the initial moving speed, a natural frequency of the double-inverted pendulum model, and an expected value of the stable point of the double-inverted pendulum model; and
wherein the measured value of the stable point of the double-inverted pendulum model is calculated using equations of:

OG Complex Work Unit Math
where, ρm represents the measured value of the stable point, xl represents an initial distance between a centroid of a left leg of the double-inversion model and the support point, xl represents a moving speed of the centroid of the left leg of the double inverted pendulum, xr represents an initial distance between a centroid of a right leg of the double inverted model and the support point, xr represents a moving speed of the centroid of the right leg of the double inverted model, w represents the natural frequency of the double inverted pendulum model, each of xl and xr is the initial moving speed, and ρd represents the expected value of the stable point.