US 12,344,337 B2
Robot state estimation method, computer-readable storage medium, and legged robot
Ligang Ge, Shenzhen (CN); Yizhang Lìu, Shenzhen (CN); Chunyu Chen, 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 May 5, 2023, as Appl. No. 18/144,160.
Application 18/144,160 is a continuation of application No. PCT/CN2020/140560, filed on Dec. 29, 2020.
Claims priority of application No. 202011547547.5 (CN), filed on Dec. 24, 2020.
Prior Publication US 2023/0271656 A1, Aug. 31, 2023
Int. Cl. B62D 57/032 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); G01M 1/12 (2006.01)
CPC B62D 57/032 (2013.01) [B25J 9/161 (2013.01); B25J 9/1633 (2013.01); B25J 13/085 (2013.01); G01M 1/122 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented robot state estimation method, comprising:
providing a legged robot having a processor, a body, sensors, a left leg and a right leg, wherein the sensors are installed at parts where two feet of the robot and the legs of the robot are connected;
obtaining, through the sensors, force information of the left leg and force information of the right leg;
calculating, through the processor, a zero-moment point (ZMP) of the legs of the robot in a world coordinate system based on the force information of the left leg and the force information of the right leg;
obtaining, through the processor, a posture angle of the body of the robot and a planned center of mass (COM) position of the robot;
calculating, through the processor, a position of a CoM of the robot based on the planned COM position, the posture angle of the body, and the ZMP of the legs; and
controlling, through the processor, motions of the robot, based on the position of the COM of the robot.