US 12,070,856 B2
Robot balance control method, robot using the same, and computer readable storage medium
Hongge Wang, Shenzhen (CN); Chunyu Chen, Shenzhen (CN); Yizhang Liu, Shenzhen (CN); Ligang Ge, Shenzhen (CN); Jie Bai, Shenzhen (CN); Xingxing Ma, Shenzhen (CN); and Jiangchen Zhou, Shenzhen (CN)
Assigned to UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed by UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed on Dec. 21, 2021, as Appl. No. 17/557,076.
Claims priority of application No. 202011532376.9 (CN), filed on Dec. 22, 2020.
Prior Publication US 2022/0193896 A1, Jun. 23, 2022
Int. Cl. B25J 9/16 (2006.01); B62D 57/02 (2006.01); G05B 19/41 (2006.01); G05B 19/4155 (2006.01)
CPC B25J 9/1605 (2013.01) [B25J 9/1633 (2013.01); B62D 57/022 (2013.01); G05B 19/4155 (2013.01); G05B 2219/50391 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented balance control method for a biped robot, comprising:
equivalenting a foot of a support leg of the biped robot to a massless link of a Linear Inverted Pendulum plus Flywheel Model, and equivalenting rest parts of the biped robot to a flywheel of the Linear Inverted Pendulum plus Flywheel Model; and
controlling a posture of the foot of the support leg based on the Linear Inverted Pendulum plus Flywheel Model;
wherein the controlling the posture of the foot of the support leg based on the flywheel model comprises:
determining a first rotation matrix of the foot of the support leg in a world coordinate system;
calculating a first posture angle of the foot of the support leg in the world coordinate system based on the first rotation matrix; and
controlling the robot to apply a torque to the foot of the support leg according to the first posture angle; and
wherein the determining the first rotation matrix of the foot of the support leg in the world coordinate system comprises:
obtaining a second posture angle of a body of the robot in the world coordinate system;
calculating a second rotation matrix of the body of the robot in the world coordinate system based on the second posture angle;
determining a third rotation matrix of the foot of the support leg of the robot relative to the body of the robot according to forward kinematics; and
calculating the first rotation matrix based on the second rotation matrix and the third rotation matrix.