Method for controlling legged robot, robot and computer-readable storage medium
A method for controlling a legged robot includes: 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; calculating a position offset in the collision direction ac...
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| creator | Xiong, Youjun Chen, Chunyu Zhou, Jiangchen Luo, Qiuyue Bai, Jie Liu, Yizhang Ge, Ligang |
| description | A method for controlling a legged robot includes: 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; 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. |
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Chen, Chunyu ; Zhou, Jiangchen ; Luo, Qiuyue ; Bai, Jie ; Liu, Yizhang ; Ge, Ligang</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_US12138803B23</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>eng</language><creationdate>2024</creationdate><topic>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</topic><topic>HAND TOOLS</topic><topic>LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS</topic><topic>MANIPULATORS</topic><topic>MOTOR VEHICLES</topic><topic>PERFORMING OPERATIONS</topic><topic>PORTABLE POWER-DRIVEN TOOLS</topic><topic>TRAILERS</topic><topic>TRANSPORTING</topic><toplevel>online_resources</toplevel><creatorcontrib>Xiong, Youjun</creatorcontrib><creatorcontrib>Chen, Chunyu</creatorcontrib><creatorcontrib>Zhou, Jiangchen</creatorcontrib><creatorcontrib>Luo, Qiuyue</creatorcontrib><creatorcontrib>Bai, Jie</creatorcontrib><creatorcontrib>Liu, Yizhang</creatorcontrib><creatorcontrib>Ge, Ligang</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Xiong, Youjun</au><au>Chen, Chunyu</au><au>Zhou, Jiangchen</au><au>Luo, Qiuyue</au><au>Bai, Jie</au><au>Liu, Yizhang</au><au>Ge, Ligang</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>Method for controlling legged robot, robot and computer-readable storage medium</title><date>2024-11-12</date><risdate>2024</risdate><abstract>A method for controlling a legged robot includes: 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; 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.</abstract><oa>free_for_read</oa></addata></record> |
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| subjects | CHAMBERS PROVIDED WITH MANIPULATION DEVICES HAND TOOLS LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS MANIPULATORS MOTOR VEHICLES PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS TRAILERS TRANSPORTING |
| title | Method for controlling legged robot, robot and computer-readable storage medium |
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