US 12,138,803 B2
Method for controlling legged robot, robot and computer-readable storage medium
Chunyu Chen, Shenzhen (CN); Yizhang Liu, Shenzhen (CN); Ligang Ge, Shenzhen (CN); Jie Bai, Shenzhen (CN); Jiangchen Zhou, Shenzhen (CN); Qiuyue Luo, 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 Dec. 28, 2022, as Appl. No. 18/089,588.
Application 18/089,588 is a continuation of application No. PCT/CN2021/131466, filed on Nov. 18, 2021.
Claims priority of application No. 202110846375.X (CN), filed on Jul. 26, 2021.
Prior Publication US 2023/0133934 A1, May 4, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01); B62D 57/032 (2006.01)
CPC B25J 9/1666 (2013.01) [B25J 13/085 (2013.01); B62D 57/032 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for controlling a legged robot, comprising:
in response to detection of a collision event associated with a foot of a swing leg of the biped robot, terminating a trajectory component planning of the swing leg in a collision direction, wherein the trajectory component planning in the collision direction comprises a trajectory component in a forward direction and a trajectory component in a lateral movement direction of a single-leg motion planning trajectory of the robot;
calculating a position offset in the collision direction according to an external force that is received by the foot of the swing leg in the collision direction and obtained in real time, based on a foot dragging control mode, and determining a replanned trajectory component in the collision direction based on the position offset; and
controlling the swing leg to move based on the replanned trajectory component in the collision direction and a desired trajectory component of the swing leg in a non-collision direction.