US 12,304,084 B2
Gait planning method, robot and computer-readable storage medium
Qiuyue Luo, Shenzhen (CN); Yizhang Liu, Shenzhen (CN); Ligang Ge, Shenzhen (CN); Chunyu Chen, Shenzhen (CN); Jiangchen Zhou, Shenzhen (CN); and Meng Yan, Shenzhen (CN)
Assigned to UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed by UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed on Dec. 29, 2022, as Appl. No. 18/091,292.
Claims priority of application No. 202210204305.9 (CN), filed on Mar. 2, 2022.
Prior Publication US 2023/0278212 A1, Sep. 7, 2023
Int. Cl. B25J 9/16 (2006.01); G05B 13/04 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1602 (2013.01); B25J 9/163 (2013.01); B25J 9/1653 (2013.01); G05B 13/04 (2013.01)] 20 Claims
OG exemplary drawing
 
6. A robot comprising:
one or more processors; and
a memory coupled to the one or more processors, the memory storing programs that, when executed by the one or more processors, cause performance of operations comprising:
constructing a first phase variable for gait planning of the robot, wherein the first phase variable is a function of two position components of a torso of the robot on a horizontal plane;
determining a product of the first phase variable and a preset adjustment coefficient, and obtaining a ratio between an inverse hyperbolic sine function of the product and an inverse hyperbolic sine function of the preset adjustment coefficient as a second phase variable; and
performing the gait planning on a foot of a swing leg of the robot using the second phase variable to obtain a planned trajectory of the foot of the swing leg, and controlling the robot to move according to the planned trajectory of the foot of the swing leg.