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Gait planning method, device, readable storage medium and robot for dynamic obstacle avoidance

A gait planning and dynamic obstacle avoidance technology, applied in the field of robotics, can solve problems such as difficult to adapt to the obstacle environment, fixed single gait planning method, etc., to achieve the effect of improving movement efficiency and increasing adaptability

Active Publication Date: 2022-08-02
UBTECH ROBOTICS CORP LTD
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0003] In view of this, the embodiment of the present application provides a dynamic obstacle avoidance gait planning method, device, computer-readable storage medium, and robot to solve the problem that the prior art often adopts a fixed and single gait planning method, which is difficult to adapt to Problems with complex obstacle environments

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  • Gait planning method, device, readable storage medium and robot for dynamic obstacle avoidance

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[0065] In order to make the purpose, features and advantages of the invention of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the following The described embodiments are only some, but not all, embodiments of the present application. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0066] It is to be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described feature, integer, step, operation, element and / or component, but does not exclude one or more other features , whole, step, operation, element, component and / or the pres...

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Abstract

The present application belongs to the field of robotics, and in particular, relates to a gait planning method, device, computer-readable storage medium and robot for dynamic obstacle avoidance. The method performs obstacle detection on the travel path of the robot; if an obstacle is detected, the envelope size of the obstacle is measured visually; if the envelope size of the obstacle is smaller than a preset size threshold, then Carry out the gait planning of the robot according to the preset stride gait; if the envelope size of the obstacle is greater than or equal to the size threshold, carry out the gait of the robot according to the preset walking gait planning. Through this application, the size of the obstacle is visually detected, and the entering gait algorithm is determined according to the size of the obstacle, and the planning of the stride gait and the detour gait increases the adaptation of the biped robot in the complex obstacle environment. ability, while improving the movement efficiency of the robot.

Description

technical field [0001] The present application belongs to the field of robotics, and in particular, relates to a gait planning method, device, computer-readable storage medium and robot for dynamic obstacle avoidance. Background technique [0002] A key issue in humanoid robot research is how to make humanoid robots adapt to various terrains and achieve fast and stable walking. Walking in complex terrain usually requires visual assistance. If an obstacle appears in the forward trajectory, it is usually necessary to consider how to avoid it. In the existing technology, a fixed and single gait planning method is often used, which is difficult to adapt to a more complex obstacle environment. . SUMMARY OF THE INVENTION [0003] In view of this, the embodiments of the present application provide a gait planning method, device, computer-readable storage medium and robot for dynamic obstacle avoidance, so as to solve the problem that a fixed and single gait planning method is of...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B62D57/032
CPCB25J9/1697B25J9/1666B25J9/16B62D57/032
Inventor 白杰葛利刚刘益彰王鸿舸庞建新熊友军
Owner UBTECH ROBOTICS CORP LTD