GAIT CONTROL METHOD, BIPED ROBOT, AND COMPUTER-READABLE STORAGE MEDIUM

GAIT CONTROL METHOD, BIPED ROBOT, AND COMPUTER-READABLE STORAGE MEDIUM

A method for controlling gait of a biped robot includes: collecting a lateral center of mass (CoM) speed and a lateral CoM position of the biped robot when the biped robot walks in place, calculating phase variables of virtual constraints corresponding to the CoM of the biped robot in a first phase...

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Hauptverfasser: Chen, Chunyu, Luo, Qiuyue, Bai, Jie, Ge, Ligang, Liu, Yizhang
Format: Patent
Sprache:eng
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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
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creator Chen, Chunyu
Luo, Qiuyue
Bai, Jie
Ge, Ligang
Liu, Yizhang
description A method for controlling gait of a biped robot includes: collecting a lateral center of mass (CoM) speed and a lateral CoM position of the biped robot when the biped robot walks in place, calculating phase variables of virtual constraints corresponding to the CoM of the biped robot in a first phase and a second phase according to the lateral CoM speed and the lateral CoM position; constructing motion trajectory calculation equations for the biped robot based on the phase variables corresponding to the first phase and the second phase, respectively; and finding inverse solutions for joints of the biped robot using the motion trajectory calculation equations to obtain joint angles corresponding to each of the joints of the biped robot to realize gait control.
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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 GAIT CONTROL METHOD, BIPED ROBOT, AND COMPUTER-READABLE STORAGE MEDIUM
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