Biped robot path planning method and device and biped robot

A biped robot and path planning technology, applied in the field of robot navigation, can solve problems that are not suitable for biped robots
CN112731941APending Publication Date: 2021-04-30UBTECH ROBOTICS CORP LTD
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Patent Information

Authority / Receiving Office
CN ยท China
Patent Type
Applications(China)
Current Assignee / Owner
UBTECH ROBOTICS CORP LTD
Publication Date
2021-04-30

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Abstract

The embodiment of the invention provides a biped robot path planning method and device and a biped robot, and the method comprises the steps: generating a candidate node set of a next foothold through the parameters of the biped robot and the joint movement information of a current node, adding effective candidate nodes in the candidate node set to the priority queue to select optimal nodes to achieve expansion of the next node, wherein the output optimal nodes generate a foothold sequence from the initial node to the target node so that the path node search amount of the biped robot during double-leg crossed landing can be greatly reduced; and thus the path planning efficiency is improved.
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Description

technical field

[0001] The invention relates to the technical field of robot navigation, in particular to a biped robot path planning method, device and biped robot. Background technique

[0002] For wheeled robots, navigation is usually achieved by following the trajectory of the center of mass. In the process of route planning, the wheeled robot is usually regarded as a point, and the obstacles existing in the map can be expanded according to the lateral size of the robot to realize the selection of obstacle avoidance routes. However, for a biped robot with left and right legs, it needs to complete navigation by planning the footholds of the crossed left and right legs. Therefore, traditional planning methods for wheeled robots are not suitable for biped robots. Contents of the invention

[0003] In view of this, the object of the present invention is to provide a biped robot path planning method, device and biped robot in order to overcome the deficiencies in the prio...

Claims

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