US 12,440,966 B2
Method for controlling biped robot, biped robot, and readable storage medium
Yan Xie, Beijing (CN)
Assigned to Beijing Xiaomi Robot Technology Co., Ltd., Beijing (CN)
Filed by Beijing Xiaomi Robot Technology Co., Ltd., Beijing (CN)
Filed on Dec. 22, 2022, as Appl. No. 18/087,668.
Claims priority of application No. 202210957726.9 (CN), filed on Aug. 10, 2022.
Prior Publication US 2024/0051121 A1, Feb. 15, 2024
Int. Cl. B25J 9/16 (2006.01); B62D 57/032 (2006.01)
CPC B25J 9/1602 (2013.01) [B25J 9/1633 (2013.01); B62D 57/032 (2013.01); G05B 2219/39001 (2013.01); G05B 2219/41406 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A method for controlling a biped robot, comprising:
acquiring a support phase of the biped robot in a current state;
acquiring a current forward speed and a current lateral speed of a center of mass of the biped robot at an end of the support phase;
acquiring a torque vector of an ankle joint of a support leg of the biped robot according to the current forward speed and the current lateral speed;
acquiring a target torque vector according to the torque vector and a preset Quadratic Programming (QP) model; and
controlling the biped robot to move according to the target torque vector,
wherein acquiring a support phase of the biped robot in a current state, comprises:
acquiring current time and a ground normal component force applied to a swing leg of the biped robot;
judging whether the current time meets a first condition or a second condition and judging whether the current time and the normal component force meet a third condition; the first condition being that the current time exceeds a sum of Single Support Phase (SSP) start time and SSP duration, the second condition being that the current time exceeds a sum of Double Support Phase (DSP) start time and DSP duration, the third condition being that the current time exceeds a sum of the SSP start time and half of the SSP duration, and the normal component force being greater than a product of a preset coefficient and gravity of the biped robot; and
determining that the biped robot is in a DSP when the current time meets the first condition or the current time and the normal component force meet the third condition; and determining that the biped robot is in an SSP when the current time meets the second condition.