A method for planning foot placement in a bipedal robot based on NURBS curves, a computer-readable storage medium, and a foot device.

Abstract

The application discloses a biped robot landing point planning method based on a NURBS curve, a computer readable storage medium and a foot device. The method comprises the following steps: acquiring a starting foot point, a landing foot point and a leg swing height of a biped robot as control points of a NURBS curve; generating an initial landing foot point trajectory curve based on the control points, and calculating a first derivative of the initial landing foot point trajectory curve to obtain a speed of an actual landing foot point; comparing the speed of the actual landing foot point with an expected landing foot point speed, and obtaining a control landing foot point trajectory curve when an error absolute value of the speed of the actual landing foot point and the expected landing foot point speed is less than or equal to a preset value; and controlling a swing of a swing leg of the biped robot according to the control landing foot point trajectory curve. The speed of the landing foot point relative to the ground is matched with the speed of the robot relative to the ground, the swing state and the support state of the foot-type robot motion are combined, the motion state switching is smoother, and the walking speed of the robot is improved.

Description

Technical Field

[0001] This invention relates to the field of path planning technology, and in particular to a method for planning the landing points of a bipedal robot based on NURBS curves, a computer-readable storage medium, and a foot device. Background Technology

[0002] Currently, legged robots use the body as a reference frame. When in the swing phase, the speed of the feet is greater than the speed of the body as they swing forward. When in the support phase, the speed of the feet is less than the forward speed of the body. Therefore, there is a discontinuity in speed at the footing position when the state changes. The faster the body speed, the greater the discontinuity, making bipedal robots prone to falling over while walking quickly.

[0003] Therefore, the existing technology still needs further improvement and enhancement. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the present invention provides a bipedal robot foot placement planning method based on NURBS curves, a computer-readable storage medium, and a foot device, aiming to solve the problem that existing bipedal robots are prone to falling during fast walking due to unreasonable foot placement planning paths.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows:

[0006] Firstly, a method for planning the foot placement of a bipedal robot based on NURBS curves, comprising:

[0007] The starting point, landing point, and leg swing height of the bipedal robot are obtained as control points for the NURBS curve;

[0008] Based on the control points, an initial landing point trajectory curve is generated. The first derivative of the initial landing point trajectory curve is obtained to get the velocity of the actual landing point.

[0009] The speed of the actual landing point is compared with the speed of the expected landing point. When the absolute value of the error between the speed of the actual landing point and the speed of the expected landing point is less than or equal to a preset value, the control landing point trajectory curve is obtained.

[0010] The swinging of the bipedal robot's swinging leg is controlled according to the trajectory curve of the controlled foot landing point.

[0011] The following are preferred technical solutions of the present invention, but are not intended to limit the technical solutions provided by the present invention. The purpose and beneficial effects of the present invention can be better achieved and realized through the following preferred technical solutions.

[0012] As a preferred technical solution, the method for planning the landing point of a bipedal robot based on NURBS curves, wherein obtaining the starting point, landing point, and leg swing height of the bipedal robot specifically includes: using the state estimation module of the bipedal robot to obtain the starting point, landing point, and leg swing height of the bipedal robot.

[0013] As a preferred technical solution, the method for planning the landing point of a bipedal robot based on NURBS curves, wherein the method for obtaining the desired landing point velocity includes:

[0014] The state estimate of the bipedal robot is obtained using the state estimation module of the bipedal robot.

[0015] Based on the state estimation, the robot's world coordinates and velocity at the starting point are obtained. The expected walking speed and walking cycle time are predicted to obtain the robot's world coordinate position and velocity at the landing point. The horizontal plane movement speed of the robot body is inverted, and the vertical axis velocity is set to zero to obtain the expected velocity of the landing foot.

[0016] As a preferred technical solution, the bipedal robot foot placement planning method based on NURBS curves further includes:

[0017] The speed of the actual landing point is compared with the speed of the expected landing point. When the absolute value of the error between the speed of the actual landing point and the speed of the expected landing point is greater than a preset value, the control point is updated.

[0018] Based on the updated control points, the initial landing point trajectory curve is iterated, and the first derivative of the iterated initial landing point trajectory curve is obtained to get the velocity of the actual landing point.

[0019] The speed of the actual landing point is compared with the speed of the expected landing point. When the absolute value of the error between the speed of the actual landing point and the speed of the expected landing point is greater than the preset value, the control point is updated again. The updated control point is used to iterate the trajectory curve of the initial landing point until the absolute value of the error between the speed of the actual landing point and the speed of the expected landing point is less than or equal to the preset value.

[0020] As a preferred technical solution, the method for planning the landing point of a bipedal robot based on NURBS curves, wherein the preset value is 0.01 m / s; and the NURBS curve is a third-order NURBS curve.

[0021] Secondly, a foot placement planning device for a bipedal robot based on NURBS curves, comprising:

[0022] The acquisition module is used to acquire the starting point, landing point, and leg swing height of the bipedal robot as control points for the NURBS curve;

[0023] The generation module is used to generate an initial landing point trajectory curve based on the control points, and to obtain the velocity of the actual landing point by taking the first derivative of the initial landing point trajectory curve.

[0024] The comparison module is used to compare the speed of the actual landing point with the speed of the expected landing point. When the speed of the actual landing point is less than or equal to the speed of the expected landing point, the control landing point trajectory curve is obtained.

[0025] The control module is used to control the swinging of the bipedal robot's swinging leg according to the trajectory curve of the controlled foot landing point.

[0026] Thirdly, a computer-readable storage medium stores one or more programs that can be executed by one or more processors to implement the steps in the above-described method for planning foot placement of a bipedal robot based on NURBS curves.

[0027] Fourthly, a terminal device includes: a processor and a memory; the memory stores a computer-readable program executable by the processor; the processor executes the computer-readable program to implement the steps in the NURBS curve-based bipedal robot foot placement planning method described above.

[0028] Fifthly, a foot device for the bipedal robot foot placement planning method described in the first aspect, wherein the foot device comprises a connecting component, an ankle joint motor, a support component, and a foot sole component connected in sequence;

[0029] The end of the connecting component opposite to the ground is connected to the leg; multiple pressure sensors are distributed on the surface of the supporting component that contacts the foot component; the foot component has an embedded inertial measurement unit; when the foot device walks, the pressure sensors detect the contact pressure with the ground when the foot is lifted and lowered, and the inertial measurement unit detects the acceleration and angle of the foot relative to the ground.

[0030] As a preferred technical solution, in the foot device, the pressure sensors are arranged in a one-dimensional matrix.

[0031] Beneficial effects: Compared with the prior art, the bipedal robot foot placement planning method provided by the present invention matches the speed of the bipedal robot's foot placement relative to the ground with the speed of the bipedal robot relative to the ground, and combines the swinging dynamics and the supporting dynamics of the bipedal robot's movement, making the transition of movement states smoother, thereby improving the walking speed of the robot. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 A flowchart of a bipedal robot foot placement planning method based on NURBS curves provided in an embodiment of the present invention;

[0034] Figure 2 A flowchart illustrating another method for planning foot placement points of a bipedal robot based on NURBS curves, provided in an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the swing leg trajectory with the heel as the tracking point provided in an embodiment of the present invention;

[0036] Figure 4 The third-order NUBRS curve provided for embodiments of the present invention;

[0037] Figure 5 This is a schematic diagram of the structural principle of the bipedal robot foot placement planning device provided in an embodiment of the present invention;

[0038] Figure 6 A schematic diagram of the structure of a terminal device provided in an embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of the foot device structure provided in an embodiment of the present invention. Detailed Implementation

[0040] This invention provides a method, apparatus, terminal device, and computer-readable storage medium for planning foot placement points of a bipedal robot based on NURBS curves. To make the objectives, technical solutions, and effects of this invention clearer and more explicit, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0041] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this specification means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein can include wireless connections or wireless coupling. The term “and / or” as used herein includes all or any units and all combinations of one or more associated listed items.

[0042] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0043] It should be understood that the sequence number and size of each step in this embodiment do not imply the order of execution. The execution order of each process is determined by its function and internal logic, and should not constitute any limitation on the implementation process of this embodiment.

[0044] Bipedal robots have disadvantages such as more leg joints, smaller support area, and higher center of gravity, making it difficult to achieve all three aspects of walking simultaneously. In addition, the movement trajectory of legged robots consists of a series of discontinuous foot placement points, with adjacent foot placement points transitioning between alternating swaying and supporting states.

[0045] Currently, the landing point of legged robots is generated solely based on the robot's walking speed and the predicted position of its walking cycle, without considering the magnitude and direction of the landing point's velocity. It assumes the landing point is relatively stationary relative to the world position, with all three axes of velocity and angular velocity being zero. Alternatively, it uses the velocity obtained by differentiating the cubic interpolation curves of the starting and landing points as the landing point velocity to plan the trajectory of the swinging leg. Furthermore, the moment the swinging foot lands is the instant of transition between the swinging phase and the supporting phase. However, legged robots use the body as a reference frame. When in the swinging phase, the foot's velocity is greater than the body's velocity as it swings forward; when in the supporting phase, the foot's velocity is less than the body's forward velocity. Therefore, there is a discontinuity in velocity at the landing point during state transitions. The faster the body speed, the greater the discontinuity, making bipedal robots prone to falling during rapid walking.

[0046] To this end, the present invention first uses state estimation to obtain the current swing leg starting point, future landing point position and swing height of the robot, and sets the four control points required by the NURBS curve as the initial control points for trajectory iteration. By judging whether the error between the speed obtained by iteration and the expected speed is within an acceptable range, the iteration is terminated as a judgment condition, and finally the landing point speed matching the robot's motion is obtained.

[0047] The application content will be further explained below with reference to the accompanying drawings and the description of the embodiments.

[0048] This embodiment provides a method for planning the foot placement of a bipedal robot based on NURBS curves, such as... Figure 1 and Figure 2 As shown, the method includes:

[0049] S10. Obtain the starting point, landing point, and leg swing height of the bipedal robot as control points for the NURBS curve.

[0050] Specifically, the state estimation module of the bipedal robot is used to obtain the robot's take-off point, landing point, and leg swing height. Since the NURBS curve is defined by control points, weights, and node vectors, it is smooth and continuous without abrupt changes. Furthermore, differentiating a NURBS curve still yields a NURBS curve; that is, when using a NURBS curve as the landing point trajectory, differentiating the position curve to obtain the velocity curve is still a NURBS curve. Therefore, the velocity curve is smooth and continuous. Moreover, compared to cubic curves, the swing leg trajectory generated by a single NURBS curve can cover the entire range of motion. Additionally, the generated trajectory can be adjusted by changing the curve's control points. As the landing point is iteratively approximated through differentiation, a trajectory that matches the robot's landing point velocity is obtained. Controlling the landing point velocity based on the obtained trajectory makes the bipedal robot less prone to falling during rapid walking. It should be noted that the take-off point is considered to have a positional deviation between the robot's torso and legs only in the z-axis direction, with other aspects remaining the same.

[0051] S20. Generate an initial landing point trajectory curve based on the control points, and obtain the velocity of the actual landing point by taking the first derivative of the initial landing point trajectory curve.

[0052] Specifically, the three-axis directions of the swing leg's foot position are defined to be the same as the robot's three-axis directions: the x-axis is the forward direction, the z-axis is perpendicular to the ground and pointing upwards, and the y-axis is perpendicular to the xz direction. Taking the xz plane as an example, a third-order NURBS curve is used as the trajectory position curve of the swing leg, simplifying the swing leg's position curve in three-dimensional space into a two-dimensional planar position curve:

[0053]

[0054] Where C(u) is a point on the curve, P i It is a control point, w i It corresponds to control point P i The weights, N t，v (u) is the p-th order B-spline basis function of the i-th control point, obtained by the recursive formula, and the resulting curve is as follows. Figure 3 As shown. Since it is a third-order curve, p is set to 3. If the weights of each control are set to [1,5,5,1], the larger the weight, the closer the curve is to the control point, making the swing trajectory close to the swing height limit. Substituting u=1 into the first derivative function of the C(u) curve, we obtain the landing point velocity of the first iteration.

[0055] S30. Compare the actual landing point speed with the expected landing point speed. When the absolute value of the error between the actual landing point speed and the expected landing point speed is less than or equal to a preset value, obtain the control landing point trajectory curve.

[0056] Specifically, the actual landing point speed refers to the speed of the landing point to be iterated, which is different from the expected landing point speed (calculated value). In other words, the NURBS curve is adjusted by control points to make the actual landing point speed closer to the expected landing point speed.

[0057] The robot's state parameters are obtained through the robot's state estimation module. These parameters include the current horizontal movement speed along the x and y axes, the world coordinate position of the starting point, and the maximum swing height of the swinging leg. Based on the walking speed and walking cycle estimated by the state estimation parameters, the world coordinate position of the landing point is predicted. The x and y axis speeds of the horizontal movement are inverted, and the z-axis speed is set to zero to obtain the desired three-axis speeds for the landing point. The landing speed of the first iteration is compared with the desired landing speed. If the absolute value of the error is less than or equal to 0.01 m / s, the current landing speed is considered reasonable, ensuring that the landing speed matches the robot's current motion state.

[0058] S40. Control the swinging of the bipedal robot's swinging leg according to the control foot landing point trajectory curve.

[0059] In one implementation of the present invention, when the absolute value of the error between the actual landing point speed and the expected landing point speed is greater than a preset value, the control point is updated, and the updated control point is used to iterate the initial landing point trajectory curve until the absolute value of the error between the actual landing point speed and the expected landing point speed is less than or equal to the preset value.

[0060] Specifically, the NURBS curve requires four control points: P0, P1, P2, and P3. P0 is the starting point, and P3 is the landing point. The z-axis heights of P1 and P2 represent the foot-lifting height. The x-axis coordinate of P1 is located at the first third of the distance between P2 and P3, and the initial x-axis position of P2 is the same as that of P3. At this point, the tangent to the curve at point P3 is perpendicular to the x-axis, meaning the horizontal velocity of the landing point matches the horizontal velocity of the robot body. This is suitable for scenarios where the robot moves forward at a constant speed. When P2 is on the positive side of P3, the velocity direction of the landing point is backward relative to the robot body, suitable for scenarios where the robot accelerates forward. When P2 is on the negative side of P3, the velocity direction of the landing point is forward relative to the robot body, suitable for scenarios where the robot decelerates forward. By setting the initial position of P2 and iteratively calculating the velocity of the landing point by continuously adjusting the position of P2, the velocity of the landing point is matched to the robot's current motion state.

[0061] Substitute the weight value of u into the first derivative of the C(u) curve to obtain the landing point velocity of the first iteration. Compare this velocity with the expected landing point velocity. If the absolute value of the error is greater than 0.01 m / s, the position of point P2 is considered unreasonable. If the obtained velocity is greater than the expected landing point velocity, reduce the position of P2 by half the distance between P2 and P3, and replace the original position of P2 with the new position to continue the calculation. Otherwise, if it is less than the expected landing point velocity, increase the position of P2 and obtain the landing point velocity again. If the error is still too large at this time, continue to reduce the distance between P2 and P3 by half, and continue iterating until the error is within an acceptable range.

[0062] Based on the above-described bipedal robot foot placement planning method, this embodiment provides a structural principle diagram of a bipedal robot foot placement planning device, as shown below. Figure 5 As shown, the bipedal robot foot placement planning device specifically includes:

[0063] The acquisition module 100 is used to acquire the starting point, landing point, and leg swing height of the bipedal robot as control points for the NURBS curve;

[0064] The generation module 200 is used to generate an initial landing point trajectory curve based on the control points, and to obtain the velocity of the actual landing point by taking the first derivative of the initial landing point trajectory curve.

[0065] The comparison module 300 is used to compare the speed of the actual landing point with the speed of the expected landing point. When the speed of the actual landing point is less than or equal to the speed of the expected landing point, a control landing point trajectory curve is obtained.

[0066] The control module 400 is used to control the swinging of the bipedal robot's swinging leg according to the trajectory curve of the control foot landing point.

[0067] Based on the above-described bipedal robot foot placement planning method, this embodiment provides a computer-readable storage medium storing one or more programs that can be executed by one or more processors to implement the steps in the bipedal robot foot placement planning method described in the above embodiment.

[0068] Based on the above-described bipedal robot foot placement planning method, this application also provides a terminal device, such as... Figure 6 As shown, it includes at least one processor 20; a display screen 21; and a memory 22, and may also include a communications interface 23 and a bus 24. The processor 20, display screen 21, memory 22, and communications interface 23 can communicate with each other via the bus 24. The display screen 21 is configured to display a preset user guide interface in the initial setup mode. The communications interface 23 can transmit information. The processor 20 can invoke logical instructions in the memory 22 to execute the methods described in the above embodiments.

[0069] Furthermore, the logical instructions in the aforementioned memory 22 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium.

[0070] The memory 22, as a computer-readable storage medium, can be configured to store software programs, computer-executable programs, such as program instructions or modules corresponding to the methods in the embodiments of this disclosure. The processor 20 executes functional applications and data processing by running the software programs, instructions, or modules stored in the memory 22, thereby implementing the methods in the above embodiments.

[0071] The memory 22 may include a program storage area and a data storage area. The program storage area may store the operating system and application programs required for at least one function; the data storage area may store data created based on the use of the terminal device. Furthermore, the memory 22 may include high-speed random access memory (RAM) and non-volatile memory. Examples include various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks, as well as transient storage media.

[0072] Furthermore, the specific process of loading and executing multiple instruction processors in the aforementioned storage medium and terminal device has been described in detail in the above method, and will not be repeated here.

[0073] Based on the above-described bipedal robot foot placement planning method, this embodiment provides a foot device, such as... Figure 7 As shown, the foot device includes a connecting component 110, an ankle joint motor 210, a support component 310, and a foot component 410 connected in sequence. One end of the connecting component 410, facing away from the ground, is connected to the leg (not shown). Multiple pressure sensors 311 are distributed on the surface of the support component 310 that contacts the foot component 410. An inertial measurement unit (not shown) is embedded in the foot component. When the foot device is in motion, the pressure sensors detect the contact pressure with the ground when the foot is lifted and lowered, and the inertial measurement unit detects the acceleration and angle of the foot relative to the ground.

[0074] The foot device provided by this invention can use the structure of the foot sole component, support component, ankle joint motor, and connector as a platform to collect the trajectory data of the foot landing point. The pressure sensor can obtain the pressure magnitude when the foot contacts the ground and whether it has touched the ground in real time. The IMU (Inertial Measurement Unit) obtains the real-time position and speed of the swinging foot by transmitting and calculating the data. Compared with the existing solutions, the pressure sensor matrix of this device (such as a one-dimensional matrix of 1 column and 5 rows formed by distributing five pressure sensors on the surface in contact with the support component and the foot sole component) can obtain the contact position when contacting uneven ground or when the front and rear feet do not contact flat ground at the same time, thereby better adjusting the posture of the foot and avoiding slipping and stepping into empty space.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for planning a footfall of a biped robot based on a NURBS curve, characterized in that, The method comprises the following steps: obtaining the take-off point, the landing point and the leg swing height of the biped robot as control points of a NURBS curve; generating an initial landing point trajectory curve based on the control points, and obtaining the velocity of the actual landing point by taking the first derivative of the initial landing point trajectory curve; comparing the velocity of the actual landing point with the expected landing point velocity, and obtaining a control landing point trajectory curve when the absolute value of the error between the velocity of the actual landing point and the expected landing point velocity is less than or equal to a preset value; controlling the swing of the swing leg of the biped robot according to the control landing point trajectory curve; the method for obtaining the expected landing point velocity comprises the following steps: obtaining the state estimation of the biped robot by using a state estimation module of the biped robot; obtaining the world coordinate position and the velocity of the robot at the take-off point according to the state estimation, obtaining the world coordinate position and the velocity of the robot at the landing point by predicting the expected walking speed and the walking period, taking the negative of the horizontal plane movement speed of the body and taking the zero of the longitudinal axis speed, and obtaining the expected landing point velocity.

2. The NURBS curve-based footfall planning method for a biped robot according to claim 1, wherein, The method for obtaining the take-off point, the landing point and the leg swing height of the biped robot comprises the following steps:

3. The NURBS curve-based footfall planning method for a biped robot according to claim 1, wherein, obtaining the take-off point, the landing point and the leg swing height of the biped robot by using a state estimation module of the biped robot. The method further comprises the following steps: comparing the velocity of the actual landing point with the expected landing point velocity, and updating the control points when the absolute value of the error between the velocity of the actual landing point and the expected landing point velocity is greater than the preset value; iterating the initial landing point trajectory curve based on the updated control points, and obtaining the velocity of the actual landing point by taking the first derivative of the iterated initial landing point trajectory curve; 4. The NURBS curve-based footfall planning method for a biped robot according to claim 1, wherein, comparing the velocity of the actual landing point with the expected landing point velocity, and continuing to update the control points when the absolute value of the error between the velocity of the actual landing point and the expected landing point velocity is greater than the preset value, iterating the initial landing point trajectory curve by using the updated control points, and repeating the above steps until the absolute value of the error between the velocity of the actual landing point and the expected landing point velocity is less than or equal to the preset value.

5. A device for planning a landing point of a biped robot based on a NURBS curve, characterized by, The preset value is 0.01 m / s, and the NURBS curve is a third-order NURBS curve. The method comprises the following steps: an obtaining module, configured to obtain the take-off point, the landing point and the leg swing height of the biped robot as control points of a NURBS curve; a generating module, configured to generate an initial landing point trajectory curve based on the control points, and obtain the velocity of the actual landing point by taking the first derivative of the initial landing point trajectory curve; a comparing module, configured to compare the velocity of the actual landing point with the expected landing point velocity, and obtain a control landing point trajectory curve when the velocity of the actual landing point is less than or equal to the expected landing point velocity; a control module, configured to control the swing of the swing leg of the biped robot according to the control landing point trajectory curve; the method for obtaining the expected landing point velocity comprises the following steps: obtaining the state estimation of the biped robot by using a state estimation module of the biped robot; According to the state estimation, the robot's world coordinate and speed at the take-off point are obtained, the expected walking speed and walking cycle time are predicted, the world coordinate position and speed of the robot at the landing point are obtained, the body horizontal plane moving speed is taken as negative, and the longitudinal axis speed is taken as zero, so as to obtain the expected landing point foot speed.

6. A computer-readable storage medium, characterized in that, The computer readable storage medium stores one or more programs, which can be executed by one or more processors to implement the steps of the NURBS curve-based biped robot landing point planning method according to any one of claims 1-4.

7. A terminal device, comprising: Comprise: A processor and a memory; The memory stores a computer readable program that can be executed by the processor; when the processor executes the computer readable program, the steps of the NURBS curve-based biped robot landing point planning method according to any one of claims 1-4 are implemented.

8. A foot device for use in the method of planning a footfall of a biped robot as claimed in claim 1, characterized in that, The foot device comprises a connecting part, an ankle joint motor, a support and a foot bottom part connected in sequence; One end of the connecting part opposite to the ground is connected with the leg; the surface of the support in contact with the foot bottom part is distributed with a plurality of pressure sensors, and the foot bottom part is embedded with an inertial measurement unit; when the foot device walks, the pressure sensors detect the contact pressure with the ground when lifting the foot and landing the foot, and the inertial measurement unit detects the acceleration and angle of the foot relative to the ground.

9. The foot device of claim 8, wherein, The pressure sensors are arranged in a one-dimensional matrix.

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