US 12,390,925 B2
Anti-disturbance method and device for robot, and robot
Zhe Xu, Beijing (CN)
Assigned to Beijing Xiaomi Robot Technology Co., Ltd., Beijing (CN)
Filed by Beijing Xiaomi Robot Technology Co., Ltd., Beijing (CN)
Filed on Jan. 31, 2023, as Appl. No. 18/104,211.
Claims priority of application No. 202211352057.9 (CN), filed on Oct. 31, 2022.
Prior Publication US 2024/0139942 A1, May 2, 2024
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1653 (2013.01) [B25J 13/089 (2013.01)] 17 Claims
OG exemplary drawing
 
1. An anti-disturbance method for a robot, comprising:
acquiring current speed information of the robot in a moving coordinate system;
determining a disturbance state of the robot based on the current speed information and a desired speed of the robot, wherein the disturbance state comprises a disturbed state and a normal state; and
adjusting a gait frequency of the robot, in response to determining that the disturbance state is the disturbed state,
wherein the current speed information comprises a first current speed of the robot in a first direction of the moving coordinate system and a second current speed of the robot in a second direction of the moving coordinate system; the desired speed comprises a first desired speed of the robot in the first direction of the moving coordinate system and a second desired speed of the robot in the second direction of the moving coordinate system, wherein a speed of the robot is not zero;
wherein determining a disturbance state of the robot based on the current speed information and a desired speed of the robot comprises:
determining a first difference value between the first current speed and the first desired speed, and determining a second difference value between the second current speed and the second desired speed; and
determining that the disturbance state of the robot is the disturbed state, in response to determining that at least one of the first difference value or the second difference value is greater than a first preset speed threshold,
wherein the current speed information of the robot in the moving coordinate system further comprises a first average speed of the robot in the first direction of the moving coordinate system and a second average speed of the robot in the second direction of the moving coordinate system;
determining that the disturbance state of the robot is the disturbed state, in response to determining that at least one of the first difference value or the second difference value is greater than a first preset speed threshold, comprises:
determining a third difference value between the first current speed and the first average speed, and determining a fourth difference value between the second current speed and the second average speed; and
determining that the disturbance state of the robot is the disturbed state, in response to determining that at least one of the first difference value or the second difference value is greater than the first preset speed threshold, and at least one of the third difference value or the fourth difference value is greater than a second preset speed threshold.