一种机器人转向轨迹规划方法及相关设备
By planning the turning motion trajectory of the supporting legs in a floating base coordinate system, the problem of unstable body posture during rapid turning of the spider-type quadruped robot was solved, achieving a smooth and fast turning motion effect and improving the versatility of the turning motion planning.
CN117032250BActive Publication Date: 2026-07-17UBTECH ROBOTICS CORP LTD
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- UBTECH ROBOTICS CORP LTD
- Filing Date
- 2023-08-23
- Publication Date
- 2026-07-17
AI Technical Summary
Technical Problem
Existing technologies struggle to maintain body posture stability during rapid turning movements in low-cost spider-like quadruped robots, and the turning motion planning methods have poor versatility.
Method used
By planning the turning trajectory of the supporting legs in a floating base coordinate system and calculating the desired turning angle and the displacement of the supporting legs, a spider-type quadruped robot can achieve smooth and rapid turning motion based on the body posture adaptation.
Benefits of technology
While maintaining the stability of the robot body, it achieved smooth and rapid turning motion of the spider-like quadruped robot and improved the versatility of turning motion planning.
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Abstract
本申请提供一种机器人转向轨迹规划方法及相关设备，涉及机器人控制技术领域。本申请在获取到蜘蛛型四足机器人在浮动基坐标系下于当前步态周期内的期望转向角度后，会根据该期望转向角度计算该蜘蛛型四足机器人在与机身姿态适配的浮动基坐标系下于当前步态周期内的期望支撑足位移量，并在该浮动基坐标系内根据得到的期望支撑足位移量进行离散轨迹规划，从而得以在蜘蛛型四足机器人运动过程中实时地根据转向需求，在与机身姿态适配的浮动基坐标系内规划出合适的期望支撑足转向运动轨迹，以通过规划出的支撑足转向运动轨迹确保对应蜘蛛型四足机器人在维持机身姿态稳定的同时实现顺滑且快速的机身转向运动效果。
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