US 12,403,599 B2
Motion terrain determining method, robot, and computer-readable storage medium
Xiaoyu Ren, Shenzhen (CN); Liqun Huang, Shenzhen (CN); Huan Tan, Shenzhen (CN); and Youjun Xiong, Shenzhen (CN)
Assigned to 2021A351US1, Shenzhen (CN)
Filed by UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed on Dec. 14, 2022, as Appl. No. 18/081,611.
Claims priority of application No. 202111526061.8 (CN), filed on Dec. 14, 2021.
Prior Publication US 2023/0182328 A1, Jun. 15, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 19/02 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1656 (2013.01); B25J 9/162 (2013.01); B25J 19/02 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented motion terrain determining method for a robot, comprising:
determining, by a processor of the robot, each sine parameter and each cosine parameter corresponding to a target joint in a plurality of joints of the robot according to one or more constraint conditions;
determining, by the processor, a motion trajectory of the robot according to the sine parameter and the cosine parameter corresponding to the target joint;
determining, by the processor, a motion terrain of the robot according to the motion trajectory; and
controlling, by the processor, the robot to move on the motion terrain;
wherein the step of determining, by the processor, the motion terrain of the robot according to the motion trajectory comprises:
selecting, by the processor, a plurality of points on the motion trajectory, wherein a distance between every two of the adjacent points is within a preset distance range;
selecting, by the processor, a k-th intermediate point between the k-th point and the (k+1)-th point: wherein the k-th intermediate point is on the motion trajectory; 1≤k≤K−1 when the motion trajectory is not a closed-loop curve connected end to end, and 1≤k≤K when the motion trajectory forms a circle, wherein K is a total number of the plurality of points, and k is an intermediate point within K; and the (k+1)-th point is the first point in the plurality of points when k=K
determining, by the processor, k-th plane in a plurality of planes according to a triangle formed by the k-th point, the (k+1)-th point, and the k-th intermediate point; and
determining, by the processor, the motion terrain according to one of the K-th plane in the plurality of planes and the (K−1)-th plane in the plurality of planes.