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Movement control method and movement control device for robot and robot

A technology of motion control and robotics, applied in the field of robotics, can solve problems such as collision between feet and steps, damage to biped robots, etc.

Inactive Publication Date: 2021-05-25
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Considering that the biped robot may work in various environments, this will cause the biped robot to easily collide with the steps when going up the steps, and even cause damage to the biped robot in severe cases

Method used

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  • Movement control method and movement control device for robot and robot
  • Movement control method and movement control device for robot and robot
  • Movement control method and movement control device for robot and robot

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Embodiment Construction

[0026] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0027] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude one or more other Presence or addition of features, wholes, steps, operations, elements, components and / or collections thereof.

[0028] It should...

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PUM

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Abstract

The invention is suitable for the technical field of robot movement control, and provides a movement control method and a movement control device for a robot, the robot and a computer readable storage medium. The method comprises the steps of acquiring the geometric parameters of a target step, wherein the geometric parameters comprise the stepping width and the stepping height of the target step; determining at least two time-displacement coordinates and a velocity vector corresponding to each time-displacement coordinate according to the geometric parameters; based on the at least two time-displacement coordinates and the corresponding velocity vectors, fitting to generate a movement track; and controlling feet of the robot to move based on the movement track. By means of the method, the feet of the robot can be prevented from violently colliding with the steps in the step climbing process, and step climbing is safer and more stable.

Description

technical field [0001] The present application belongs to the technical field of robots, and in particular relates to a motion control method for a robot, a motion control device for a robot, a robot, and a computer-readable storage medium. Background technique [0002] Compared with wheeled and tracked robots, a great advantage of biped robots is that they can fully adapt to human living environments, such as walking on uneven ground, going up and down stairs, etc. [0003] Considering that the biped robot may work in various environments, this will cause the biped robot to easily collide with the steps when going up the steps, and even cause damage to the biped robot in severe cases . [0004] Therefore, it is necessary to provide a new method to solve the above technical problems. Contents of the invention [0005] In view of this, the present application provides a motion control method for a robot, a motion control device for a robot, a robot and a computer-readable...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032B25J9/1697B25J9/1664B25J9/162G05B2219/40298B25J9/1666B25J9/0006G05D2201/0217
Inventor 王鸿舸葛利刚刘益彰白杰熊友军庞建新
Owner UBTECH ROBOTICS CORP LTD
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