US 12,292,738 B2
Trajectory planning method, computer-readable storage medium, and robot
Qiuyue Luo, Shenzhen (CN); Ligang Ge, Shenzhen (CN); Yizhang Liu, Shenzhen (CN); Jie Bai, 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 Jul. 16, 2023, as Appl. No. 18/222,448.
Application 18/222,448 is a continuation of application No. PCT/CN2021/124612, filed on Oct. 19, 2021.
Claims priority of application No. 202110194548.4 (CN), filed on Feb. 21, 2021.
Prior Publication US 2023/0359207 A1, Nov. 9, 2023
Int. Cl. B25J 11/00 (2006.01); B25J 9/10 (2006.01); G05D 1/00 (2006.01)
CPC G05D 1/0212 (2013.01) [B25J 9/10 (2013.01); B25J 11/00 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented trajectory planning method for a robot having a torso and a plurality of legs, comprising:
constructing a phase variable of a trajectory planning of the robot, wherein the phase variable is a function of two position components of the torso of the robot on a horizontal plane; and
performing, using the phase variable, the trajectory planning on a swinging leg of the plurality of legs of the robot in each preset coordinate axis direction.