US 12,311,545 B2
Walking control method, biped robot and computer-readable storage medium
Chunyu Chen, Shenzhen (CN); Jie Bai, Shenzhen (CN); Yizhang Liu, Shenzhen (CN); Ligang Ge, Shenzhen (CN); Zheng Xie, 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 Dec. 28, 2022, as Appl. No. 18/090,457.
Application 18/090,457 is a continuation of application No. PCT/CN2021/131892, filed on Nov. 19, 2021.
Claims priority of application No. 202110303627.4 (CN), filed on Mar. 22, 2021.
Prior Publication US 2023/0202027 A1, Jun. 29, 2023
Int. Cl. B25J 9/16 (2006.01); B62D 57/032 (2006.01)
CPC B25J 9/1602 (2013.01) [B62D 57/032 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A computer-implemented walking control method for a biped robot, comprising:
detecting whether the biped robot is in an unbalanced state;
in response to detection that the biped robot is in the unbalanced state, obtaining a predicted balance step length corresponding to the biped robot in the unbalanced state;
performing a smooth transition processing on the predicted balance step length according to a current movement step length of the biped robot to obtain a desired balance step length corresponding to the predicted balance step length;
determining a planned leg trajectory of the biped robot according to the desired balance step length; and
controlling a current swing leg of the biped robot to move according to the planned leg trajectory.