A foot-type robot

Abstract

The application discloses a kind of foot type robots, for realizing larger angle of gyration body in the case where joint output ability is limited, and improve action stability and continuity.The foot type robot provided by the application comprises: a torso comprising a crotch;Head is connected with the torso;Two upper limbs and corresponding upper limb ends, two upper limbs are respectively connected with the torso;Two lower limbs and corresponding lower limb ends, two lower limbs are respectively connected with the crotch;At least one processor;And at least one storage medium, at least one storage medium has instruction, instruction when by at least one processor executes makes foot type robot: response to gyration body trigger instruction, executes gyration body action sequence, gyration body action sequence includes single foot support rotation stage, flight rotation stage and landing stage in sequence;In single foot support rotation stage, the lower limb end of the first lower limb in two lower limbs and the contact surface establish rotation support contact.

Description

Technical Field

[0001] This application relates to the field of robot control technology, and in particular to a legged robot. Background Technology

[0002] With the improvement of the dynamic motion capabilities of legged robots, rotational movements are gradually becoming an important type of action that reflects the robot's coordinated control and posture recovery capabilities. These movements require the robot to complete aerial rotations in a short period of time, placing high demands on the overall motion control capabilities of the robot.

[0003] However, legged robots are limited by their overall size and joint output capacity, resulting in a limited amount of energy available for rotation and lifting during a single movement. When a robot needs to perform large-angle rotational movements, relying solely on local joint actuation in a conventional support posture can easily lead to insufficient rotation amplitude or insufficient clearance, thus preventing the movement from being fully realized. Especially with large movements, the limited joint output capacity is insufficient to meet the continuous motion requirements during large-angle rotations. Summary of the Invention

[0004] This application provides a legged robot for achieving large-angle rotational movements with limited joint output capacity, and improving motion stability and continuity.

[0005] This application provides a legged robot, comprising:

[0006] The torso, including the hips; The head is connected to the torso; Two upper limbs and corresponding upper limb ends, the two upper limbs being connected to the trunk respectively; Two lower limbs and their corresponding ends, the two lower limbs being connected to the hip; At least one processor; and, At least one storage medium storing instructions that, when executed by the at least one processor, cause the legged robot to: In response to the spinning body trigger command, the spinning body action sequence is executed, which includes a single-leg support rotation phase, an airborne rotation phase, and a landing phase in sequence. During the single-leg support rotation phase, the distal end of the first lower limb establishes rotational support contact with the contact surface, the torso rotates, and the distal end of the second lower limb is suspended in the air and swings. The projection of the torso onto the contact surface along the direction of gravity rotates in a first preset direction, and the distal end of the second lower limb swings along the projection of the projection of the second lower limb onto the contact surface in a second preset direction. The first preset direction and the second preset direction correspond to the same direction, clockwise and counterclockwise. During the swinging of the distal end of the second lower limb, the distal end of the second lower limb also moves away from the contact surface. By controlling the distal end of the first lower limb to output a force to the contact surface, the legged robot enters the airborne rotation phase. During the aerial rotation phase, the lower limb of the first lower limb is controlled to detach from the contact surface, so that the legged robot can rotate in the air. During the landing phase, the lower limb of the second lower limb is controlled to establish a supporting contact with the contact surface. After the lower limb of the second lower limb establishes a supporting contact with the contact surface, the projection of the lower limb of the first lower limb onto the contact surface along the direction of gravity continues to swing in the second preset direction to drive the torso to rotate until the lower limb of the first lower limb establishes a supporting contact with the contact surface. The moment when the distal end of the first lower limb detaches from the contact surface is recorded as the first moment, and the moment when the distal end of the second lower limb establishes supporting contact with the contact surface is recorded as the second moment. The airborne rotation phase includes the time period from the first moment to the second moment. At the first moment, the knee joint angle of the first lower limb is greater than that of the second lower limb. The knee joint angle of the first lower limb is between 120° and 180°, and the knee joint angle of the second lower limb is between 45° and 120°. The distance between the distal end of the second lower limb and the contact surface is less than or equal to the distance between the head and the contact surface, and greater than or equal to the distance between the hip and the contact surface.

[0007] As can be seen from the above technical solutions, this application has the following advantages: Upon receiving a rotation trigger command, the legged robot sequentially executes a single-leg support rotation phase, a mid-air rotation phase, and a landing phase. During the single-leg support rotation phase, the distal end of the first lower limb establishes rotational support contact with the contact surface, the torso rotates along a first preset direction, and the distal end of the second lower limb swings in the same direction while suspended in the air, moving away from the contact surface during the swing. Thus, the robot can establish a rotational tendency by utilizing the swinging motion of the second lower limb in conjunction with the torso rotation, while the first lower limb provides a support base. This allows the rotational momentum required for the rotation to be generated jointly by the supporting leg pushing off the ground, the torso rotation, and the swinging leg movement, thereby reducing dependence on the instantaneous output capacity of local joints and facilitating a greater rotational amplitude even under conditions of limited joint output capacity.

[0008] Furthermore, the distal end of the first lower limb outputs a force to the contact surface, enabling the robot to enter the aerial rotation phase based on its existing rotational tendency, thereby obtaining the ground clearance required to complete a large-angle rotation. At the first moment the first lower limb leaves the contact surface, the knee joint angle of the first lower limb is greater than that of the second lower limb, allowing the first lower limb to push off the ground and lift itself in a relatively extended state, while the second lower limb can participate in swinging and posture adjustment in a relatively bent state. At the same time, the distal end of the second lower limb is located between the hip height and the head height, ensuring that the distal end of the second lower limb has already been raised to a certain height before takeoff, which is conducive to the second lower limb forming an upward movement tendency and, together with the push-off of the first lower limb, increases the subsequent takeoff height, thus providing more time and space for the aerial rotation process. Upon landing, the distal end of the second lower limb first establishes supporting contact with the contact surface to absorb the impact of landing after takeoff. After the second lower limb establishes supporting contact, the distal end of the first lower limb continues to swing along a second preset direction to further rotate the torso, thereby increasing the rotation angle during landing. This, combined with the subsequent establishment of supporting contact by the first lower limb, allows the robot to complete the support switch and posture recovery before the rotation ends. Through the above coordinated actions, this application can achieve a large-angle rotation even with limited joint output capacity, and improves the stability and continuity of the movements. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in this application, 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 this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 A schematic diagram of the overall structure of a humanoid robot provided as an example of a legged robot for this application; Figure 2A schematic diagram of a stage of an embodiment of the rotational body motion sequence of the legged robot provided in this application; Figure 3 A schematic diagram of the posture of the legged robot provided in this application at the first moment of approach; Figure 4 A schematic diagram of a legged robot provided in this application in a posture approaching the second moment; Figure 5 A schematic diagram of a legged robot provided in this application entering a bipedal support state during the landing phase; Figure 6-A A schematic diagram of a support state of the legged robot provided in this application in a preparatory posture; Figure 6-B and Figure 6-C A schematic diagram illustrating a process of the legged robot provided in this application during the single-arm support rotation phase; Figure 7 This is a schematic diagram of a support state of the legged robot provided in this application during the stable phase. Detailed Implementation

[0011] This application provides a legged robot that can achieve a large-angle rotational body under the condition of limited joint output capacity, and improve the amplitude of aerial rotation, landing connection stability and motion continuity.

[0012] The legged robot provided in this application includes a torso, a head, two upper limbs, two lower limbs, at least one processor, and at least one storage medium. In some embodiments, the legged robot can be a humanoid robot, which is a specific implementation of the legged robot. For ease of description, the following description mainly uses a humanoid robot as an example. Please refer to... Figure 1 The torso 3 includes an upper torso 31 and a hip 32, which are rotatably connected. The head 4 is connected to the torso 3. The two upper limbs 1 are each connected to the torso 3, and the two lower limbs 2 are each connected to the hip 32. For ease of description, the two upper limbs can be referred to as the first upper limb and the second upper limb, and the two lower limbs can be referred to as the first lower limb and the second lower limb. It should be noted that the terms "first upper limb," "second upper limb," "first lower limb," and "second lower limb" are only used to distinguish different limb structures and do not constitute a limitation on specific left and right positions.

[0013] Each upper limb includes an end effector for establishing supporting contact with a contact surface. Each upper limb may also include an upper arm and a forearm. The upper arm is connected to the upper torso, and the forearm is connected to the end effector. The upper arm and forearm are connected via an elbow joint. Each lower limb includes an end effector for establishing supporting contact with a contact surface. Each lower limb may also include a thigh and a lower leg. The thigh is connected to the hip, and the lower leg is connected to the end effector. The thigh and lower leg are connected via a knee joint, enabling the lower limb to adjust its posture between different support states. It should be noted that the contact surface can be the ground, platform surface, sports field surface, cushioning surface, or other bearing surface that can provide support for the legged robot; the end effector of the upper limb can be a hand, a robotic hand, or other end structure that can establish supporting contact with the contact surface; the end effector of the lower limb can be a foot, a foot actuator, or other end structure that can establish supporting contact with the contact surface. This application does not limit the scope of these claims.

[0014] It should be noted that, in the embodiments of this application, "contact" refers to the state in which the limbs, torso, or other body parts of the legged robot are in physical contact with the contact surface; "supporting contact" refers to the state in which the above-mentioned contact provides support to the legged robot, enabling the corresponding part to bear part of the load from the body. Specifically, when a part of the legged robot only makes slight contact, rubbing, or non-load-bearing contact with the contact surface, that part can be understood as having ordinary contact with the contact surface; when there is a contact between that part and the contact surface that can bear the weight of the body or participate in posture stability, that part can be understood as establishing supporting contact with the contact surface. Whether supporting contact is established can be determined by force sensors, tactile sensors, joint torque, motor current, contact pressure distribution, or posture changes.

[0015] At least one of the aforementioned storage media stores instructions that, when executed by at least one processor, control the coordinated operation of the various drive components of the legged robot. This enables the legged robot to respond to a rotation trigger command and execute a rotational motion sequence, which sequentially includes a single-leg support rotation phase, a mid-air rotation phase, and a landing phase. The rotation trigger command can be input by a user or automatically generated by the legged robot based on its own state or motion planning results.

[0016] Please see Figure 2 , Figure 2 This is a schematic diagram of one embodiment of the rotating body movement sequence provided in this application. The standing movement sequence includes a single-leg support rotation phase 201, an airborne rotation phase 202, and a landing phase 203, which will be described below.

[0017] In the single-leg support rotation stage 201, the lower limb of the first lower limb establishes rotational support contact with the contact surface, the torso rotates, and the lower limb of the second lower limb is suspended in the air and swings. The projection of the torso onto the contact surface along the direction of gravity rotates in a first preset direction, and the projection of the lower limb onto the contact surface along the direction of gravity swings in a second preset direction. The first preset direction and the second preset direction correspond to the same direction between clockwise and counterclockwise. During the swinging of the lower limb, the lower limb also moves away from the contact surface. By controlling the lower limb of the first lower limb to output a force to the contact surface, the legged robot enters the airborne rotation stage.

[0018] In this embodiment, the first lower limb and the second lower limb are used to distinguish the role relationship of the two lower limbs in the rotational body's action sequence. In some embodiments, the first lower limb can be the right lower limb, and the second lower limb corresponds to the left lower limb; in other embodiments, the first lower limb can also be the left lower limb, and the second lower limb corresponds to the right lower limb. That is, the first lower limb is the lower limb that establishes rotational support contact with the contact surface during the single-leg support rotation phase 201, and the second lower limb is the lower limb that is suspended and swinging during the single-leg support rotation phase 201. Rotational support contact can be understood as the lower limb tip of the first lower limb maintaining support contact with the contact surface, and allowing the lower limb tip to rotate relative to the contact surface during this support contact process, so that the legged robot can rotate with the contact area between the lower limb tip of the first lower limb and the contact surface as the support basis. Both clockwise and counterclockwise directions are determined with the contact surface as the observation reference plane. Specifically, the projection of the legged robot onto the contact surface can be observed from above the robot, and the rotation or swing direction of the projection on the contact surface can be determined based on this observation angle.

[0019] In the single-leg support rotation phase 201, the distal end of the first lower limb establishes rotational support contact with the contact surface. The legged robot maintains its support state through the first lower limb and controls the rotation of the torso. During the torso rotation, the projection of the torso along the direction of gravity onto the contact surface rotates in a first preset direction. The distal end of the second lower limb is suspended in the air and can swing relative to the hip, causing the projection of the distal end of the second lower limb along the direction of gravity onto the contact surface to move in the second preset direction. Specifically, the projection of the torso along the direction of gravity onto the contact surface can be understood as the projection area formed after the torso is projected onto the contact surface along the direction of gravity. The projection of the distal end of the second lower limb along the direction of gravity onto the contact surface can be understood as the projection area formed after the distal end of the second lower limb is projected onto the contact surface along the direction of gravity. Since the first preset direction and the second preset direction correspond to the same direction between clockwise and counterclockwise, both the first preset direction and the second preset direction can be clockwise or both counterclockwise. For example, in one implementation, the first lower limb is the right lower limb, and the second lower limb is the left lower limb. The projection of the torso onto the contact surface along the direction of gravity rotates clockwise, and the projection of the distal end of the second lower limb onto the contact surface along the direction of gravity also swings clockwise. Thus, the swinging direction of the second lower limb is adapted to the rotation direction of the torso, enabling the second lower limb to coordinate with the rotation of the torso during its suspended swinging motion to establish a consistent rotational tendency.

[0020] During the swinging motion of the second lower limb's distal end, the processor also controls the distal end of the second lower limb to move away from the contact surface. This causes the legged robot to tend to move away from the contact surface during the single-leg support rotation phase. Combined with the subsequent force output by the first lower limb towards the contact surface, this allows the legged robot to achieve a higher ground clearance when entering the airborne rotation phase. This provides more time and space for the airborne rotation process, enabling the legged robot to complete large-angle rotations even with limited joint output capabilities.

[0021] In the latter part of the single-leg support rotation phase 201, the processor controls the distal end of the first lower limb to output a force towards the contact surface. The contact surface generates a reaction force on the distal end of the first lower limb, which acts on the legged robot, causing the robot's torso and hips to move away from the contact surface, and gradually detaching the distal end of the first lower limb from the contact surface. Thus, the legged robot can enter the airborne rotation phase based on the rotational tendency established in the single-leg support rotation phase, further controlling the robot's rotation.

[0022] In the aerial rotation phase 202, the distal end of the first lower limb is controlled to detach from the contact surface, so that the legged robot can rotate in the air. The moment when the distal end of the first lower limb detaches from the contact surface is recorded as the first moment, and the moment when the distal end of the second lower limb establishes supporting contact with the contact surface is recorded as the second moment. The aerial rotation phase includes the time period from the first moment to the second moment. At the first moment, the knee joint angle of the first lower limb is greater than that of the second lower limb. The knee joint angle of the first lower limb is 120° to 180°, and the knee joint angle of the second lower limb is 45° to 120°. The distance between the distal end of the second lower limb and the contact surface is less than or equal to the distance between the head and the contact surface, and greater than or equal to the distance between the hip and the contact surface.

[0023] In this embodiment, the first moment represents the starting moment when the legged robot transitions from single-leg supported rotation to airborne rotation. That is, before the first moment, the distal end of the first lower limb maintains rotational support contact with the contact surface; at the first moment, the distal end of the first lower limb disengages from the contact surface, causing the legged robot to enter the airborne state. The second moment represents the moment when the airborne rotation phase ends and the robot enters the landing phase. That is, at the second moment, the distal end of the second lower limb first establishes support contact with the contact surface, beginning to bear the landing load after the legged robot's airborne rotation. Therefore, the time period between the first and second moments can be considered the time period during which the legged robot is in the airborne rotation state.

[0024] At the initial moment, the knee joint angle of the first lower limb is greater than that of the second lower limb, allowing the first and second lower limbs to have different movement postures before takeoff. The knee joint angle can be understood as the internal angle formed between the thigh and lower leg of the lower limb. The first lower limb, acting as the limb that pushes off the ground, has a knee joint angle between 120° and 180°; for example, the knee joint angle of the first lower limb can be 120°, 135°, 150°, 165°, or 180°. If the knee joint angle of the first lower limb is less than 120°, the degree of bending of the first lower limb is greater. When the lower limb outputs force towards the contact surface, the torso and hips move less in the direction away from the contact surface, easily leading to insufficient takeoff height for the legged robot. Therefore, setting the knee joint angle of the first lower limb to 120° to 180° allows the first lower limb to maintain an appropriate extension state before takeoff, ensuring that the first lower limb has space to output force towards the contact surface. As a suspending and swinging lower limb, the knee joint angle of the second lower limb can range from 45° to 120°. For example, the knee joint angle of the second lower limb can be 45°, 60°, 75°, 90°, 105°, or 120°. If the knee joint angle of the second lower limb is less than 45°, the degree of bending of the second lower limb is too large, and the end of the lower limb may interfere with the supporting leg. Furthermore, if the second lower limb is excessively bent at the first moment, it needs to complete a large-scale extension in a short period of time between the first and second moments to allow the end of the second lower limb to move to the contact surface and establish supporting contact, which increases the difficulty of adjusting the posture of the second lower limb. If the knee joint angle of the second lower limb is greater than 120°, the degree of extension of the second lower limb is too large, which will increase the radius of motion of the end of the lower limb relative to the body, making it difficult for the legged robot to form a high ground clearance before takeoff. Therefore, setting the knee joint angle of the second lower limb to 45° to 120° can keep the second lower limb in a proper bent state at the first moment. On the one hand, this facilitates the continued swinging of the second lower limb during the airborne rotation, and on the other hand, it helps to obtain a greater airborne height.

[0025] At the first moment, the distance between the distal end of the second lower limb and the contact surface is less than or equal to the distance between the head and the contact surface, and greater than or equal to the distance between the hip and the contact surface. In this embodiment, the distance between each part and the contact surface can be the minimum distance from the corresponding part to the contact surface along the direction of gravity. When the contact surface is used as a height reference plane, the above distance can be used to represent the height position of the corresponding part relative to the contact surface. Based on this distance relationship, the distance between the tip of the second lower limb and the contact surface is greater than or equal to the distance between the hip and the contact surface. This indicates that the height of the tip of the second lower limb relative to the contact surface is not lower than the height of the hip relative to the contact surface. In other words, the tip of the second lower limb has already been raised to a certain height before takeoff, allowing it to coordinate with the legged robot to move away from the contact surface and cooperate with the push-off action of the first lower limb. This increases the height of the legged robot after entering the takeoff and rotation phase, providing more time and space for body rotation during takeoff. Conversely, the distance between the tip of the second lower limb and the contact surface is less than or equal to the distance between the head and the contact surface, indicating that the height of the tip of the second lower limb relative to the contact surface is not higher than the height of the head relative to the contact surface. Since the second lower limb needs to land first, if the tip of the second lower limb is raised too high, it will need to complete a larger descent displacement and posture adjustment within the limited takeoff time, increasing the difficulty of posture adjustment. Through this distance relationship, the second lower limb can both cooperate with the legged robot to continue takeoff and rotation in the first moment and prepare for landing in the second moment.

[0026] During the landing phase 203, the lower limb of the second lower limb is controlled to establish a supporting contact with the contact surface. After the lower limb of the second lower limb establishes a supporting contact with the contact surface, the projection of the lower limb of the first lower limb onto the contact surface along the direction of gravity continues to swing in the second preset direction to drive the torso to rotate until the lower limb of the first lower limb establishes a supporting contact with the contact surface.

[0027] In this embodiment, the distal end of the second lower limb establishes supporting contact with the contact surface at a second moment, and the second lower limb switches from the suspended swinging state during the airborne rotation to the ground support state. The knee joint of the second lower limb can remain bent, so that the second lower limb has a buffer margin to continue bending after establishing supporting contact, thereby reducing the impact of landing on the lower limb joints and distal end.

[0028] After the distal end of the second lower limb establishes supporting contact with the contact surface, the legged robot still tends to continue rotating along the second preset direction. At this time, the processor controls the distal end of the first lower limb to continue swinging along the projection of gravity onto the contact surface in the second preset direction, allowing the first lower limb to continue moving in the air following the body's rotation direction. Since the distal end of the first lower limb has not yet established supporting contact with the contact surface, the first lower limb can continue swinging in the air to match the rotational trend formed during the torso's continued aerial rotation phase, and to allow the legged robot to continue completing the remaining rotational movements while the second lower limb is already supported. Specifically, the processor controls the first lower limb to continue swinging relative to the hip and controls the distal end of the first lower limb to gradually move towards the contact surface. As the distal end of the first lower limb swings along the second preset direction, the torso can continue to rotate in a direction consistent with the second preset direction until the distal end of the first lower limb reaches the preset landing area and establishes supporting contact with the contact surface.

[0029] Through the aforementioned control method, the distal end of the second lower limb lands first to provide a supporting foundation for the legged robot, while the continued swinging of the distal end of the first lower limb ensures that the torso maintains rotational continuity after landing. This prevents the legged robot from immediately interrupting its rotation after the aerial spin, facilitating a smooth transition of the rotational body's movements during landing. Furthermore, the continued swinging of the first lower limb drives further rotation of the torso, increasing the rotation angle of the rotational body's movements. Establishing supporting contact at the distal end of the first lower limb creates a bipedal support state, thereby improving landing stability.

[0030] Please see Figure 3 and Figure 4 , Figure 3 This is a schematic diagram of a legged robot's posture during the first moment of approach. Figure 4 This is a schematic diagram of a legged robot's posture near the second moment. It should be noted that... Figure 3 and Figure 4 This is only used to illustrate the relative posture of the footed robot at the first and second moments, and does not constitute a limitation on the specific rotational body's motion process.

[0031] like Figure 3As shown, near the first moment, the distal end of the first lower limb maintains rotational support contact with the contact surface, the torso of the legged robot has already rotated relative to the contact surface, and the distal end of the second lower limb is suspended in the air. At this time, the knee joint angle of the first lower limb, as the limb about to push off the ground, is greater than that of the second lower limb, and the first lower limb is in a relatively extended posture, allowing the distal end of the first lower limb to continue to output force to the contact surface, thereby driving the torso and hip to move away from the contact surface. The second lower limb, as the limb swinging in the air, maintains a relatively bent knee joint, and the distal end of the second lower limb swings along a second preset direction and rises away from the contact surface. By making the second lower limb rise synchronously during the swinging process, the legged robot can form a tendency to move away from the contact surface before entering the airborne rotation stage, and, in conjunction with the push-off action of the first lower limb, increase the subsequent airborne height, thus providing more time and space for body rotation during the airborne process. Figure 3 In the posture shown, the distance between the lower limb tip and the contact surface is greater than or equal to the distance between the hip and the contact surface, and less than or equal to the distance between the head and the contact surface. This ensures that the second lower limb forms an upward trend while reserving a margin of motion for subsequent movement towards the contact surface and landing.

[0032] When the distal end of the first lower limb is... Figure 3 When the robot transitions from the near-support state to the state of detachment from the contact surface, the first moment is reached, and the legged robot enters the airborne rotation phase. After the first moment, the distal end of the first lower limb detaches from the contact surface, and the legged robot continues its airborne rotation based on the rotation already established during the single-leg support rotation phase. Because the second lower limb has already swung in a second preset direction that aligns with the torso's rotation direction before the first moment, and the first lower limb exerts force on the contact surface before leaving the ground, the legged robot can simultaneously possess a body rotation tendency and ground clearance when entering the airborne phase, which is beneficial for completing large-angle rotational movements.

[0033] like Figure 4 As shown, near the second moment, the legged robot is in the later stage of its aerial rotation. The tip of its second lower limb has moved towards the contact surface and is close to establishing a supporting contact. At this time, the second lower limb can prepare to land while maintaining a proper flexion, allowing for continued flexion after establishing a supporting contact with the contact surface. The tip of the first lower limb is suspended in the air and can continue to swing along the projection of gravity onto the contact surface in the second preset direction to coordinate with the continued rotation of the torso. When the tip of the second lower limb... Figure 4When the approaching contact state transitions to a state of establishing supporting contact with the contact surface, the second moment is reached, the airborne rotation phase ends, and the landing phase begins. The distal end of the second lower limb first establishes supporting contact with the contact surface, thus absorbing the force generated when the legged robot transitions from the airborne state to the landing state. Subsequently, the distal end of the first lower limb continues to swing along the second preset direction, causing the torso to continue rotating after landing, thereby further increasing the rotation angle of the rotating body. As the distal end of the first lower limb gradually moves closer to the contact surface and establishes supporting contact, the legged robot enters the landing phase... Figure 5 The double-footed support position shown improves the continuity and stability of the rotational body movement during the landing phase.

[0034] In this embodiment, after responding to the rotation trigger command, the legged robot sequentially executes a single-leg support rotation phase, an airborne rotation phase, and a landing phase. During the single-leg support rotation phase, the distal end of the first lower limb establishes rotational support contact with the contact surface, the torso rotates along a first preset direction, and the distal end of the second lower limb swings in the same direction while suspended in the air, moving away from the contact surface during the swing. Thus, the robot can establish a rotational tendency by using the swinging motion of the second lower limb in conjunction with the torso rotation while providing a support base with the first lower limb. This allows the rotational momentum required for the rotation to be generated jointly by the supporting leg pushing off the ground, the torso rotation, and the swinging leg movement, thereby reducing dependence on the instantaneous output capacity of local joints and facilitating a greater rotational amplitude under conditions of limited joint output capacity.

[0035] Furthermore, the distal end of the first lower limb outputs a force to the contact surface, enabling the robot to enter the aerial rotation phase based on its existing rotational tendency, thereby obtaining the ground clearance required to complete a large-angle rotation. At the first moment the first lower limb leaves the contact surface, the knee joint angle of the first lower limb is greater than that of the second lower limb, allowing the first lower limb to push off the ground and lift itself in a relatively extended state, while the second lower limb can participate in swinging and posture adjustment in a relatively bent state. At the same time, the distal end of the second lower limb is located between the hip height and the head height, ensuring that the distal end of the second lower limb has already been raised to a certain height before takeoff, which is conducive to the second lower limb forming an upward movement tendency and, together with the push-off of the first lower limb, increases the subsequent takeoff height, thus providing more time and space for the aerial rotation process. Upon landing, the distal end of the second lower limb first establishes supporting contact with the contact surface to absorb the impact of landing after takeoff. After the second lower limb establishes supporting contact, the distal end of the first lower limb continues to swing along a second preset direction to further rotate the torso, thereby increasing the rotation angle during landing. This, combined with the subsequent establishment of supporting contact by the first lower limb, allows the robot to complete the support switch and posture recovery before the rotation ends. Through the above coordinated actions, this application can achieve a large-angle rotation even with limited joint output capacity, and improves the stability and continuity of the movements.

[0036] In some embodiments, in response to a gyro trigger command, a gyro motion sequence is executed, including: in response to the gyro trigger command, controlling the legged robot to enter a preparatory posture, and executing the gyro motion sequence based on the preparatory posture; wherein, in the preparatory posture, the torso is tilted, and the front of the torso faces the contact surface, the lower limbs of the two lower limbs respectively support and contact the contact surface, the distance between the knee joint of the first lower limb and the contact surface is less than or equal to 10 cm, the distance between the upper limb end of the first upper limb and the contact surface is less than or equal to 20 cm, wherein the first upper limb and the first lower limb are located on the same side of the torso; the elbow joint angle of the first upper limb is 100° to 180°, the knee joint angle of the first lower limb is 90° to 150°, and the knee joint angle of the second lower limb is 70° to 180°. 10°; the ratio of the distance between the hip and the contact surface to the length of the thigh of the lower limb is 0.5-1.0, and the ratio of the distance between the knee joints of the two lower limbs to the length of the thigh of the lower limb is greater than or equal to 1.5; the rotational body action sequence also includes a single-hand support rotation phase before the single-leg support rotation phase 201, the single-hand support rotation phase includes: controlling the upper limb end of the first upper limb to support and contact the contact surface, in the state of the upper limb end of the first upper limb supporting and contacting the contact surface, controlling the lower limb ends of the two lower limbs to detach from the contact surface respectively, and controlling the projection of the legged robot on the contact surface along the direction of gravity to rotate around the support area between the upper limb end of the first upper limb and the contact surface in a third preset direction, wherein the third preset direction and the first preset direction correspond to the same one of the clockwise direction and the counterclockwise direction.

[0037] In this embodiment, after responding to the rotation trigger command, the legged robot can first enter a preparatory posture, and then execute the rotation action sequence based on the preparatory posture. The preparatory posture is used to enable the legged robot to form a lower center of mass position before entering the rotation action, and to put the upper and lower limbs in a state that facilitates support switching, thereby providing an initial posture basis for the subsequent single-arm support rotation stage.

[0038] In the ready position, the torso is tilted relative to the contact surface, with the front of the torso facing the contact surface. That is, the legged robot is in a state of tilting towards the contact surface, with the head and the front of the torso facing the contact surface. By tilting the torso forward, the height of the legged robot's center of gravity can be reduced, and the first upper limb can more easily approach the contact surface, thus facilitating the first upper limb to quickly establish supporting contact with the contact surface in subsequent movements.

[0039] In the preparatory posture, the distal ends of both lower limbs are in contact with the contact surface, ensuring the legged robot receives basic support from its two lower limbs before entering rotational motion. The distance between the knee joint of the first lower limb and the contact surface is less than or equal to 10 cm, indicating that the knee joint is close to the contact surface, resulting in a lower posture for the first lower limb. This posture helps keep the hips of the legged robot in a low position and provides the initial posture basis for the subsequent disengagement of the lower limb distal end from the contact surface and the rotation of the body around the first upper limb. The first upper limb and the first lower limb are located on the same side of the torso, and the distance between the distal end of the first upper limb and the contact surface is less than or equal to 20 cm, meaning the distal end of the first upper limb is already close to the contact surface in the preparatory posture. Thus, when entering the single-arm supported rotation phase, the distal end of the first upper limb does not need to undergo a large displacement to establish support contact with the contact surface, which helps improve the continuity of the action transition.

[0040] The elbow joint angle of the first upper limb is between 100° and 180° to ensure that the first upper limb remains properly extended when approaching the contact surface. If the elbow joint angle is too small, the first upper limb will bend excessively, and the supporting force it can provide after establishing support contact with the contact surface will be limited, making it difficult to provide stable support for the legged robot during the single-arm support rotation phase. Therefore, setting the elbow joint angle of the first upper limb to between 100° and 180° allows the first upper limb to have both the ability to approach the contact surface and the margin for subsequent support adjustment. For example, the elbow joint angle of the first upper limb can be 100°, 120°, 150°, or 180°.

[0041] The knee angle of the first lower limb is between 90° and 150°, allowing the first lower limb to retain some support while the knee is close to the contact surface. If the knee angle of the first lower limb is too small, the first lower limb will fold more, easily restricting the swinging space of the subsequent lower limb; if the knee angle of the first lower limb is too large, the first lower limb will extend too much, making it difficult for the knee to approach the contact surface, and will also raise the hip position. Therefore, setting the knee angle of the first lower limb to 90° to 150° can balance the low posture and the space for subsequent movements. For example, the knee angle of the first lower limb can be 90°, 110°, 130°, or 150°.

[0042] The knee joint angle of the second lower limb is between 70° and 110°, placing the second lower limb in a relatively bent state and maintaining supporting contact with the contact surface through the distal end of the second lower limb. This posture allows the second lower limb to work in conjunction with the first lower limb to maintain robot stability in the preparatory position, while providing initial power for subsequent push-off, lift-off, or swinging. For example, the knee joint angle of the second lower limb can be 70°, 90°, or 110°.

[0043] In the ready position, the ratio of the distance between the hip and the contact surface to the thigh length of the lower limb is 0.5 to 1.0, placing the hip in a low position relative to the contact surface. The thigh length can be the length of the link from the knee joint to the connection point between the thigh and the torso. If this ratio is too small, the hip is too close to the contact surface, limiting the range of motion for the torso and lower limbs; if the ratio is too large, the hip position is too high, requiring greater posture adjustment when the legged robot enters the single-arm support rotation phase. Therefore, setting this ratio to 0.5 to 1.0 helps the legged robot maintain a low support position in the ready position and reduces the adjustment stroke required for subsequent rotational movements.

[0044] A ratio of the distance between the knees of the two lower limbs to the thigh length of the lower limbs is greater than or equal to 1.5, indicating that the knees of the two lower limbs are separated in the preparatory posture. By maintaining a larger distance between the knees, the two lower limbs can form a more extended support posture on both sides of the torso, and the hips and torso can be positioned closer to the contact surface, thereby lowering the center of gravity height of the legged robot and allowing it to maintain a low-profile support state before entering a rotational motion. This low-profile support state facilitates the switching of support during the subsequent single-arm support rotation phase and reduces the posture adjustment required to directly enter the rotational motion from a higher posture.

[0045] Please see Figure 6-A , Figure 6-A This is a schematic diagram of a legged robot in a support state of its preparatory posture, as shown below. Figure 6-A As shown, in the preparatory posture, the legged robot's torso is tilted towards the contact surface, with the front of the torso facing the contact surface. The tips of the first upper limb, the first lower limb, and the second lower limb establish supporting contact with the contact surface, thus forming three supporting points on the contact surface. By having these three supporting points jointly bear at least part of the legged robot's weight, the legged robot can maintain a relatively stable low-lying support state before entering a rotating motion. Figure 6-A In the posture shown, the knee joint of the first lower limb is close to the contact surface, the first upper limb is on the same side as the first lower limb, and the distal end of the first upper limb is close to the contact surface. Therefore, the first upper limb can establish supporting contact with the contact surface within a short range of motion, facilitating the subsequent transition from a lower limb-supported state to a single-handed support rotation phase. The knee joints of the two lower limbs are separated above the contact surface, creating an extended posture on both sides of the torso. This helps to lower the center of gravity height in the preparatory posture and also provides space for the lower limbs to detach from the contact surface and rotate around the support area of ​​the first upper limb. It should be noted that... Figure 6-A Only one specific example of the preparatory posture is shown. In other embodiments, the first lower limb may be the left lower limb or the right lower limb; the first upper limb may be the upper limb located on the same side of the trunk as the first lower limb.

[0046] In this embodiment, the rotational body motion sequence also includes a single-arm support rotation phase preceding the single-leg support rotation phase 201. This single-arm support rotation phase is used to transition the legged robot from a preparatory posture to the subsequent single-leg support rotation phase, allowing the robot to establish a support base using its first upper limb before entering the single-leg support rotation, and to align the body with the subsequent rotational direction. Please refer to [link to relevant documentation]. Figure 6-B and Figure 6-C , Figure 6-B and Figure 6-C For legged robots based on Figure 6-A The diagram illustrates a process of performing a single-armed support rotation phase from a preparatory posture. Specifically, in this phase, the processor controls the distal end of the first upper limb to establish support contact with the contact surface. While maintaining this support contact, the processor controls the distal ends of both lower limbs to detach from the contact surface and rotates the projection of the legged robot onto the contact surface along the direction of gravity in a third preset direction around the support area between the distal end of the first upper limb and the contact surface. Since the third preset direction and the first preset direction correspond to the same clockwise and counterclockwise directions, the body rotation direction formed during the single-armed support rotation phase can be consistent with the torso rotation direction in the subsequent single-leg support rotation phase, allowing for a continuous transition between the two phases. By incorporating the single-armed support rotation phase, the legged robot can maintain the support relationship between the body and the contact surface using the support contact of the first upper limb when both lower limbs detach, achieving rotation at a lower posture. Meanwhile, the support area of ​​the first upper limb can serve as a temporary rotational base, enabling the legged robot to turn its body at a lower center of mass, and reserving a landing position and posture adjustment space for the subsequent rotational support contact of the lower limb.

[0047] With the setup in this embodiment, the legged robot has already completed part of its body rotation through the support of its first upper limb before entering the single-leg support rotation phase, and has switched both lower limbs from the support state in the preparatory posture to an adjustable state. This reduces the reliance on the instantaneous push-off ability and posture adjustment ability of the first lower limb in the subsequent single-leg support rotation phase, making the transition between the preparatory posture and the airborne rotation more continuous, which is beneficial for completing large-angle rotational movements under conditions of limited joint output capacity.

[0048] In some embodiments, when the instructions are executed by at least one processor, during the single-handed support rotation phase, the legged robot further controls the following: while the end of the first upper limb maintains support contact with the contact surface, the end of the first lower limb is controlled to separate from the contact surface, and the projection of the end of the first lower limb onto the contact surface along the direction of gravity is controlled to swing along a fourth preset direction, wherein the fourth preset direction and the first preset direction correspond to the same one of clockwise and counterclockwise directions. During the swinging process of the end of the first lower limb, the end of the first lower limb first gradually approaches the end of the second lower limb. After the distance between the end of the first lower limb and the end of the second lower limb reaches a minimum value, it gradually moves away from the end of the second lower limb until the end of the first lower limb re-establishes support contact with the contact surface. After the end of the first lower limb separates from the contact surface, and after the distance between the end of the first lower limb and the end of the second lower limb decreases to a preset distance, the end of the second lower limb is controlled to output a force to the contact surface and release the support contact with the contact surface. The preset distance is less than or equal to 20 cm.

[0049] In this embodiment, during the single-arm support rotation phase, the distal end of the first upper limb maintains supporting contact with the contact surface, providing a temporary support base for the legged robot. In this supported state, the processor first controls the distal end of the first lower limb to separate from the contact surface, switching the first lower limb from its supporting state in the preparatory posture to a suspended swinging state. The projection of the distal end of the first lower limb onto the contact surface along the direction of gravity swings in a fourth preset direction. The fourth preset direction and the first preset direction correspond to the same direction, clockwise and counterclockwise, ensuring that the swinging direction of the first lower limb is compatible with the trunk rotation direction in the subsequent single-leg support rotation phase.

[0050] During the swinging motion of the first lower limb's distal end, the distal end of the first lower limb gradually approaches the distal end of the second lower limb. Once the distance between the distal ends of the first and second lower limbs reaches its minimum, the processor continues to control the distal end of the first lower limb to swing along a fourth preset direction, causing it to gradually move away from the distal end of the second lower limb and towards the position where support contact needs to be established, until the distal end of the first lower limb re-establishes support contact with the contact surface. It should be noted that this minimum distance refers to the closest distance between the distal ends of the first and second lower limbs during this swinging process. This distance can be determined by motion planning and can be set as a safety distance to avoid collisions or structural interference between the two lower limb distal ends.

[0051] Furthermore, after the distal end of the first lower limb separates from the contact surface, and after the distance between the distal ends of the first and second lower limbs decreases to a preset distance, the processor controls the distal end of the second lower limb to output a force towards the contact surface and releases the supporting contact between the distal end of the second lower limb and the contact surface. That is, when the first lower limb just leaves the contact surface, the second lower limb can still maintain supporting contact with the contact surface through its distal end, allowing the legged robot to have lower limb-side support constraint on top of the support from the first upper limb; when the first lower limb has swung to a position close to the second lower limb, the second lower limb outputs a force towards the contact surface and leaves the contact surface, allowing the legged robot to continue rotating by pushing off the ground with the second lower limb. The preset distance can be less than or equal to 20cm, and this preset distance is the trigger distance for controlling the second lower limb to push off the ground. When the distance between the end of the first lower limb and the end of the second lower limb decreases to the preset distance, it indicates that the first lower limb has swung to a position close to the second lower limb. At this time, controlling the second lower limb to push off the ground can reduce the risk of the second lower limb leaving the ground prematurely before the first lower limb has completed its swing adjustment, thus reducing the risk of postural instability.

[0052] Through the timing control in this embodiment, the legged robot can sequentially complete the first lower limb lifting off the ground, the second lower limb pushing off the ground, and the first lower limb landing again for support while the first upper limb maintains support contact. This makes the action connection between the preparatory posture and the single-leg support rotation phase more continuous and reduces the dependence on the instantaneous output capability of a single lower limb joint.

[0053] In some embodiments, in a preparatory posture, the included angle of the elbow joint of the second upper limb is 60° to 180°; the second upper limb includes a connecting end connected to the torso, the distance between the elbow joint of the second upper limb and the knee joint of the second lower limb is a first distance, the distance between the connecting end and the knee joint of the second lower limb is a second distance, and the first distance is greater than the second distance; wherein, the second upper limb and the second lower limb are located on the same side of the torso.

[0054] In this embodiment, the second upper limb and the second lower limb are located on the same side of the torso. In the preparatory posture, the processor can control the elbow joint angle of the second upper limb to be between 60° and 180°, so that the second upper limb maintains a certain degree of flexion in the preparatory posture while having adjustment margin for subsequent swinging or lifting. If the elbow joint angle of the second upper limb is less than 60°, the degree of flexion of the second upper limb is too large, and the end of the second upper limb or the elbow joint is likely to approach the second lower limb on the same side of the torso, increasing the possibility of movement interference with the second lower limb. Therefore, setting the elbow joint angle of the second upper limb to 60° to 180° is beneficial for keeping the second upper limb in a flexed state suitable for avoidance and posture adjustment. For example, the elbow joint angle of the second upper limb can be 60°, 90°, 120°, 140°, 160°, or 180°.

[0055] Furthermore, the second upper limb includes a connecting end that attaches to the torso. This connecting end can be understood as the shoulder joint corresponding to the point where the second upper limb connects to the torso. See also... Figure 6-A The distance between the elbow joint of the second upper limb and the knee joint of the second lower limb is the first distance d1, and the distance between the connecting end and the knee joint of the second lower limb is the second distance d2, where d1 is greater than d2. That is, in the preparatory position, the elbow joint of the second upper limb is further away from the knee joint of the second lower limb relative to the connecting end, causing the elbow of the second upper limb to extend or lift away from the knee joint of the second lower limb. Through this distance relationship, the second upper limb can avoid the knee joint of the second lower limb and its surrounding movement area in the preparatory position. When the second lower limb subsequently performs a lift-off, swing, or push-off movement, the elbow joint of the second upper limb is less likely to obstruct the movement path of the second lower limb, thereby reducing the risk of collision between the ipsilateral upper and lower limbs. Simultaneously, after maintaining appropriate flexion, the second upper limb can be further raised or swung during the single-handed support rotation phase or subsequent airborne rotation phase to coordinate with trunk rotation and avoid lower limb movements.

[0056] With the configuration of this embodiment, the legged robot can assume an upper limb avoidance posture that facilitates the movement of the second lower limb in the preparatory position. This reduces the risk of collision between the ipsilateral upper and lower limbs during support switching, and allows the second lower limb to have a more continuous swing path in subsequent movements, reducing the amount of posture adjustment caused by upper limb obstruction. Therefore, the legged robot can maintain a better limb deployment relationship in a lower preparatory position, making the transitions between the single-arm support rotation phase, the single-leg support rotation phase, and the airborne rotation phase smoother, which is beneficial for improving the continuity and stability of the rotating body's movements.

[0057] In some embodiments, the single-leg support rotation stage 201 further includes: after the lower limb end of the first lower limb re-establishes support contact with the contact surface, controlling the lower limb end of the second lower limb to move first towards the contact surface, and then towards the direction away from the contact surface; controlling the upper limb end of the first upper limb to output a thrust to the contact surface, and releasing the support contact between the upper limb end of the first upper limb and the contact surface, wherein the support reaction force of the contact surface acting on the upper limb end of the first upper limb is used to drive the center of mass of the legged robot to rise towards the direction away from the contact surface.

[0058] In this embodiment, after the distal end of the first lower limb re-establishes support contact with the contact surface, the legged robot transitions from the single-arm support rotation stage to the single-leg support rotation stage 201. At this time, the distal end of the first lower limb again serves as a support base and contacts the contact surface, while the distal end of the first upper limb can still maintain support contact with the contact surface, thus enabling the legged robot to maintain a continuous support state during the transition from upper limb support to lower limb support. After the distal end of the first lower limb re-establishes support contact, the processor controls the distal end of the second lower limb to first move towards the contact surface, and then move away from the contact surface. The distal end of the second lower limb moving towards the contact surface first allows the second lower limb to participate in posture adjustment after the first lower limb re-establishes support, and makes the body rotation process of the legged robot more stable. Subsequently, the distal end of the second lower limb moves away from the contact surface, causing the second lower limb to re-form a suspended swing posture, reserving motion space for the subsequent swing of the second lower limb in the second preset direction and for the legged robot to enter the airborne rotation stage.

[0059] Furthermore, the processor controls the distal end of the first upper limb to output a thrust towards the contact surface. Since the distal end of the first upper limb maintains supporting contact with the contact surface, the contact surface can generate a reaction force on the distal end of the first upper limb. This reaction force is transmitted to the torso of the legged robot, causing the robot's center of mass to rise away from the contact surface. Thus, after the first lower limb regains support, the legged robot can use the reaction force generated by the first upper limb pushing against the ground to lift its torso and center of mass, reducing the pressure of solely relying on the joint output of the first lower limb to lift the center of mass. After the distal end of the first upper limb outputs thrust, the processor releases the supporting contact between the distal end of the first upper limb and the contact surface, allowing the legged robot to gradually switch from a state where it is supported by both the first upper limb and the first lower limb to a state where it is supported by rotational movement of the distal end of the first lower limb. In this way, the first upper limb provides temporary support and pushes the ground to lift the robot in the first stage, while the first lower limb provides rotational support in the second stage. The two limbs work together in sequence, which allows the legged robot to have a higher center of gravity and a more stable support foundation when it enters the single-leg support rotation stage 201.

[0060] Through the control method of this embodiment, the legged robot can use its first upper limb to push off the ground after the first lower limb lands again, providing additional lift, and then complete the posture transition by moving the second lower limb closer to the contact surface and then away from it. Therefore, the legged robot can more smoothly switch from single-arm supported rotation to single-leg supported rotation even with limited joint output capacity, improving the continuity of subsequent push-off and large-angle rotation movements.

[0061] In some embodiments, during the single-handed support rotation phase, the legged robot is further configured to: control the knee joint angle of the first lower limb to decrease to 40° to 90° and then increase to 80° to 140° in the rotation state, and control the knee joint angle of the second lower limb to increase to 120° to 175° and then decrease to 60° to 130°.

[0062] In this embodiment, during the single-handed support rotation phase, the rotation state can be understood as the state in which the end of the first upper limb maintains support contact with the contact surface, and the projection of the legged robot on the contact surface along the direction of gravity rotates around the support area between the end of the first upper limb and the contact surface.

[0063] In this rotational state, the processor can control the knee joint angle of the first lower limb to first decrease to 40° to 90°, and then increase to 80° to 140°. Specifically, in the initial stage of the rotation, the knee joint angle of the first lower limb decreases, causing the first lower limb to be in a further flexed state. The lower limb tip can lift from the contact surface side and move towards the second lower limb as the body rotates, thereby reducing the radius of motion of the first lower limb during lift-off and swinging, and reducing the possibility of interference with the contact surface or other parts of the body. Subsequently, the knee joint angle of the first lower limb increases, causing the first lower limb to gradually unfold from a flexed and tucked state. The lower limb tip can move to a preset support position after rotating around the support area of ​​the first upper limb and re-establish support contact with the contact surface. For example, the knee joint angle of the first lower limb can first decrease to 40°, 55°, 70°, or 90°, and then correspondingly increase to 80°, 100°, 120°, or 140°.

[0064] In coordination with the movements of the first lower limb, during the initial stage of rotation, the knee joint angle of the second lower limb increases to 120° to 175°, placing the second lower limb in a relatively extended state. This facilitates the output of force from the distal end of the second lower limb onto the contact surface and helps the legged robot maintain its body posture rotating around the support area of ​​the first upper limb. Subsequently, the knee joint angle of the second lower limb decreases to 60° to 130°, switching the second lower limb from an extended to a flexed state. This allows the distal end of the second lower limb to release its support contact with the contact surface and reserves space for subsequent hovering and rotational phases. For example, the knee joint angle of the second lower limb can be increased to 120°, 140°, 160°, or 175°, and then correspondingly decreased to 60°, 80°, 100°, or 130°.

[0065] In this embodiment, the first lower limb completes the takeoff, swing, and re-landing by bending and then extending its angle. The second lower limb completes the support output and takeoff retraction by extending and then bending its angle. The two lower limbs form a coordinated temporal relationship during the single-handed support rotation phase. The aforementioned angle range allows the first and second lower limbs to maintain appropriate degrees of bending or extension during rotation, which helps reduce interference from lower limb swing and facilitates the continuous switching from single-handed support rotation to single-leg support rotation.

[0066] In some embodiments, the rotating body action sequence further includes a stabilization phase following the landing phase 203; the stabilization phase includes: after the lower limb of the first lower limb establishes support contact with the contact surface, controlling the projection point of the center of mass of the legged robot on the contact surface along the direction of gravity to move to the support area between the lower limb of the first lower limb and the contact surface, and controlling the lower limb of the second lower limb to release the support contact with the contact surface; controlling the projection of the legged robot on the contact surface along the direction of gravity to rotate around the support area between the lower limb of the first lower limb and the contact surface in a fifth preset direction, the fifth preset direction and the first preset direction corresponding to the same one of clockwise and counterclockwise directions; after the rotation angle of the legged robot reaches a preset angle, controlling the lower limb of the second lower limb to establish support contact with the contact surface again.

[0067] In this embodiment, the stabilization phase is used to further adjust the support state and body orientation of the legged robot after it completes its aerial rotation and landing with both feet in sequence, allowing the legged robot to recover from the transitional posture after landing to a stable standing posture. Specifically, after the distal end of the first lower limb establishes support contact with the contact surface, the legged robot has switched from a state where the second lower limb landed first to a state where both lower limbs are in contact with the contact surface. At this time, the processor controls the legged robot's center of mass to move its projection point on the contact surface along the direction of gravity to the support area between the distal end of the first lower limb and the contact surface. This support area can be understood as the area where the distal end of the first lower limb can bear the weight of the robot after contacting the contact surface. When the projection point of the center of mass moves into this support area, the first lower limb can independently bear the main support load of the legged robot, and when the support contact between the distal end of the second lower limb and the contact surface is released, the legged robot is less likely to tip over due to the center of mass deviating from the support area.

[0068] After the center of mass projection point enters the support area corresponding to the first lower limb, the processor controls the lower limb tip of the second lower limb to release the support contact with the contact surface, causing the legged robot to switch to a single-leg support state with the first lower limb. Subsequently, the processor controls the projection of the legged robot along the direction of gravity on the contact surface to rotate around the support area between the lower limb tip of the first lower limb and the contact surface in a fifth preset direction. The fifth preset direction corresponds to the same clockwise and counterclockwise direction as the first preset direction, ensuring that the rotation direction in the stabilization phase is consistent with the rotation direction in the aforementioned single-leg support rotation phase. In this way, the legged robot can continue to adjust its body orientation along the original rotation direction after landing. After the legged robot's rotation angle reaches a preset angle, the processor controls the lower limb tip of the second lower limb to re-establish support contact with the contact surface. This preset angle can be determined based on the legged robot's target standing direction, the total rotation angle of the rotational body movement, or the current landing posture. When the lower limb tip of the second lower limb re-establishes support contact with the contact surface, the legged robot returns from the single-leg support state to the double-leg support state, thus completing the posture stabilization after the rotational body movement.

[0069] Please see Figure 7 , Figure 7 This is a schematic diagram of a legged robot's support state during the stable phase. (Example) Figure 7 As shown, after the distal end of the first lower limb establishes supporting contact with the contact surface, the legged robot can adjust the projection point of its center of mass along the direction of gravity onto the contact surface to the supporting area between the distal end of the first lower limb and the contact surface. Figure 7 In the indicated state, the distal end of the second lower limb has released its support contact with the contact surface and is suspended in the air. At this time, the legged robot can continue to rotate around the support area between the distal end of the first lower limb and the contact surface to complete the body orientation adjustment after landing. The two upper limbs can extend to the sides of the torso, allowing the legged robot to maintain posture balance during single-leg support rotation and reducing the possibility of interference between the second lower limb and the upper limbs during the suspension adjustment. During this process, the fifth preset direction corresponds to the same clockwise and counterclockwise direction as the first preset direction, ensuring that the rotation direction in the stabilization phase can follow the rotation direction in the aforementioned single-leg support rotation phase and the airborne rotation phase. Therefore, after landing, the legged robot does not need to immediately interrupt its original rotational tendency and can continue to rotate around the support area of ​​the first lower limb to complete the remaining angle of rotation. When the legged robot's rotation angle reaches the preset angle, the processor controls the distal end of the second lower limb to move back towards the contact surface and establish support contact, allowing the legged robot to... Figure 7 The single-leg support position shown is restored to the double-leg support position.

[0070] Through the stabilization phase setting in this embodiment, the legged robot can first adjust its center of gravity to the support area of ​​the first lower limb after landing, then release the support of the second lower limb and continue rotating around the first lower limb, and finally land again through the second lower limb to restore support on both feet. Thus, the rotational motion can maintain rotational continuity after landing and can form a stable support state after completing the target rotation angle, which is beneficial to improving the finishing stability and posture recovery ability of large-angle rotational motions.

[0071] In some embodiments, when the instructions are executed by at least one processor, during the airborne rotation phase, the legged robot also causes the knee joint angle of the second lower limb to be between 100° and 150° at a second moment, the knee joint angle of the first lower limb to be between 45° and 130°, and the knee joint angle of the second lower limb to be greater than that of the first lower limb.

[0072] In this embodiment, during the airborne rotation phase 202, the processor can also control the legged robot to form a lower limb posture suitable for the second lower limb to land first and the first lower limb to continue swinging before the second moment. The second moment can be understood as the moment when the lower limb tip of the second lower limb just establishes supporting contact with the contact surface. Therefore, the knee joint angle of the second lower limb at the second moment will directly affect the cushioning effect of the landing impact. As the lower limb that establishes supporting contact with the contact surface first at the second moment, the knee joint angle of the second lower limb is set to 100° to 150°. If the knee joint angle of the second lower limb is less than 100°, the second lower limb is more bent, and the knee joint is likely to continue to bend and approach the joint movement limit under the landing impact; if the knee joint angle of the second lower limb is greater than 150°, the second lower limb is close to a straight state, which can easily increase the stress on the lower limb joint and the lower limb tip. Therefore, setting the knee joint angle of the second lower limb to 100° to 150° can make the second lower limb have both supporting capacity and cushioning margin when establishing supporting contact. For example, the knee joint angle of the second lower limb can be 100°, 115°, 123°, 130°, 140° or 150°.

[0073] The first lower limb remains suspended in the air at the second moment and needs to continue swinging in the second preset direction after the second lower limb lands first, in order to drive the torso to continue rotating and prepare for subsequent landing. Therefore, the knee joint angle of the first lower limb can be set to 45° to 130°. If the knee joint angle of the first lower limb is less than 45°, the first lower limb is folded too much, and the lower limb end is too close to the hip, which can easily affect the subsequent movement towards the contact surface and the establishment of support contact. If the knee joint angle of the first lower limb is greater than 130°, the first lower limb is extended too much, and the angular margin for the lower leg to continue swinging relative to the thigh is small, making it difficult to assist the torso to continue rotating through the swinging of the lower leg relative to the thigh, thus hindering the completion of the rotation movement after the second lower limb provides support. Therefore, setting the knee joint angle of the first lower limb to 45° to 130° allows the first lower limb to maintain an appropriate flexed state at the second moment, which not only allows for the angular margin for the subsequent swinging of the lower leg relative to the thigh, facilitating continued swinging to drive the torso to rotate, but also facilitates subsequent movement towards the contact surface and the establishment of support contact. For example, the knee joint angle of the first lower limb can be 45°, 60°, 88°, 90°, 110° or 130°.

[0074] Furthermore, at the second moment, the knee angle of the second lower limb is greater than that of the first lower limb, making the second lower limb, which lands first, more extended relative to the first lower limb, thus forming a support posture suitable for bearing the landing load. The first lower limb remains suspended at the second moment, with a knee angle smaller than that of the second lower limb, keeping it in a relatively bent state. Since the first lower limb needs to continue swinging along the second preset direction after the second lower limb lands first to drive the torso to continue rotating, the smaller knee angle allows for the subsequent transition from a bent to an extended state, enabling the first lower limb to move towards the preset landing area by gradually increasing the knee angle during the swinging motion. Thus, the legged robot, based on the second lower limb landing first and forming support, can continue the torso rotation by using the continued swinging of the first lower limb, and complete the support connection during the landing phase when the first lower limb subsequently establishes support contact with the contact surface.

[0075] With the configuration of this embodiment, the legged robot can complete the cushioning support when the second lower limb lands first, and use the continued swinging of the first lower limb to drive the torso to continue rotating, thereby improving the continuity of movement and posture stability during the landing phase.

[0076] In some embodiments, when the instructions are executed by at least one processor, during the single-leg support rotation phase, the legged robot is further instructed to: control the distal end of each upper limb to move away from the contact surface, and control the minimum distance between each upper limb and the second lower limb to be greater than or equal to 5 cm, so that the two upper limbs avoid the swing trajectory of the second lower limb; when the instructions are executed by at least one processor, during the airborne rotation phase, the legged robot is further instructed to: control the minimum distance between each upper limb and the first lower limb to be greater than or equal to 5 cm, and control the minimum distance between each upper limb and the second lower limb to be greater than or equal to 5 cm, between a first moment and a second moment, so that the two upper limbs avoid the movement trajectories of the first and second lower limbs.

[0077] In this embodiment, the minimum interval between the upper limb and the lower limb can be understood as the shortest spatial distance between the upper limb and the corresponding lower limb. If this minimum interval is less than 5cm, the upper limb and the second lower limb are prone to collision due to control errors or body swaying during rapid swinging of the second lower limb or rotation of the torso. Setting the minimum interval to be greater than or equal to 5cm allows for a safe interval to be maintained for the swinging of the second lower limb without significantly limiting the range of motion of the upper limb. For example, the minimum interval between each upper limb and the second lower limb can be 5cm, 8cm, 10cm, or 15cm.

[0078] During the aerial rotation phase 202, both the first and second lower limbs of the legged robot are in motion. The first lower limb continues to rotate with the torso after detaching from the contact surface at the first moment, while the second lower limb moves towards the contact surface before the second moment, preparing to land first. Therefore, between the first and second moments, the processor can control the minimum distance between each upper limb and the first lower limb to be greater than or equal to 5 cm, and also control the minimum distance between each upper limb and the second lower limb to be greater than or equal to 5 cm. In this way, the two upper limbs can simultaneously avoid the movement trajectories of the first and second lower limbs during the aerial phase, preventing the upper limbs from entering the swinging area of ​​either lower limb.

[0079] With the configuration of this embodiment, during the single-leg support rotation phase, the upper limb can avoid the suspended swing path of the second lower limb; during the airborne rotation phase, the upper limb can avoid the air movement paths of both lower limbs. This reduces the risk of movement interference between the upper and lower limbs, making the swing of the second lower limb, the rotation of the first lower limb off the ground, and the subsequent landing action smoother, and helps maintain the continuity and safety of the rotating body's movements.

[0080] In some embodiments, when the instructions are executed by at least one processor, during the airborne rotation phase, the legged robot further controls the ratio between the distance between the knee joints of the first and second lower limbs and the thigh length of the lower limbs to be greater than or equal to 1.5.

[0081] In this embodiment, the distance between the knee joints of the first and second lower limbs can be the minimum distance between the corresponding geometric regions of the two knee joints. The length of the thigh of the lower limb can be the length of the link between the knee joint and the connection end between the thigh and the torso. Between the first and second moments, both the first and second lower limbs are in a state of airborne motion. At this time, the ratio between the distance between the knee joints of the two lower limbs and the length of the thigh of the lower limb is greater than or equal to 1.5, indicating that the two lower limbs maintain a large degree of extension during the airborne rotation. If this ratio is too small, the knee joints of the two lower limbs are too close together, which can easily restrict the swing space of the two lower limbs in the air and increase the possibility of collision or interference between the two lower limbs. At the same time, excessive tucking of the two lower limbs will limit the lifting space of the lower limb ends relative to the contact surface, resulting in a smaller ground clearance that the legged robot can obtain during the airborne rotation phase, thereby compressing the time and space for the torso to continue rotating in the air, and is also not conducive to forming the posture required for successive landings.

[0082] By setting this ratio to be greater than or equal to 1.5, such as 1.5, 1.8, 2.0, or 2.3, the first and second lower limbs can be kept separated during the aerial rotation phase. This deployed posture allows for greater lifting space for the lower limbs and, in conjunction with the body, a higher ground clearance, thus providing more time and space for the torso to continue rotating during the aerial process. On one hand, sufficient spacing can be maintained between the two lower limbs, reducing the risk of motion interference between the knee joint, lower leg, or lower limb extremities; on the other hand, the second lower limb can move towards the contact surface before the second moment and prepare to land first, while the first lower limb can continue swinging and establish supporting contact with the contact surface after the second lower limb lands. Therefore, the legged robot can form a suitable lower limb posture for sequential landing in advance during the aerial rotation, improving the stability of the landing phase.

[0083] In some embodiments, when executed by at least one processor, during the airborne rotation phase, the legged robot is instructed to: control the distal end of the second lower limb to move away from the contact surface; after the distance between the distal end of the second lower limb and the contact surface reaches a first height extreme value, control the distal end of the second lower limb to move towards the contact surface to prepare for establishing support contact; control the distal end of the first lower limb to move away from the contact surface; after the distance between the distal end of the first lower limb and the contact surface reaches a second height extreme value, control the distal end of the first lower limb to move towards the contact surface, wherein the occurrence of the second height extreme value is later than the occurrence of the first height extreme value.

[0084] In this embodiment, the first extreme height can be understood as the maximum distance of the distal end of the second lower limb relative to the contact surface during the airborne rotation phase. Since this distance can be the distance from the distal end of the second lower limb to the contact surface along the direction of gravity, the first extreme height corresponds to the highest position reached by the distal end of the second lower limb during the airborne rotation. After reaching the first extreme height, the distal end of the second lower limb moves closer to the contact surface, enabling the second lower limb to form a landing preparation posture in advance before the second moment, thereby facilitating the distal end of the second lower limb to establish supporting contact with the contact surface first.

[0085] In coordination with the movement of the second lower limb, the processor also controls the distal end of the first lower limb to move away from the contact surface. When the distance between the distal end of the first lower limb and the contact surface reaches a second extreme height, the processor controls the distal end of the first lower limb to move closer to the contact surface. The second extreme height can be understood as the maximum distance of the distal end of the first lower limb relative to the contact surface during the aerial rotation phase. By first raising and then lowering the distal end of the first lower limb, the first lower limb can avoid the contact surface during aerial rotation and continue moving towards the contact surface after the second lower limb lands first, in order to subsequently establish support contact. Furthermore, the occurrence of the second extreme height is later than the occurrence of the first extreme height, indicating that the distal end of the second lower limb completes its raising and begins to descend first, while the distal end of the first lower limb reaches its highest position subsequently. Through this timing of height changes, the second lower limb can enter the landing preparation state earlier, while the first lower limb can continue to swing in the air while the second lower limb is preparing to land. In this way, the legged robot can form a motion relationship in which the two lower limbs descend one after the other during the airborne rotation phase. This allows the end of the second lower limb to establish supporting contact with the contact surface first, and then the end of the first lower limb to continue swinging and establish supporting contact, thereby improving the continuity of motion between the airborne rotation phase and the landing phase.

[0086] With the configuration of this embodiment, the legged robot can form a sequential landing posture in advance during the take-off process, reducing the posture adjustment pressure caused by both lower limbs approaching the contact surface at the same time, and facilitating the second lower limb to bear the landing force first, while the first lower limb continues to cooperate with the torso to complete the remaining rotation and support switching.

[0087] In some embodiments, shock-absorbing structures can be provided at the distal ends of both the first and second lower limbs. These shock-absorbing structures can be located at the bottom of the distal end of the lower limb and are used to absorb at least a portion of the impact upon landing when the distal end of the lower limb establishes supporting contact with the contact surface, enabling the distal end of the lower limb to form a buffered contact with the contact surface upon landing. The shock-absorbing structure may include an elastic pad, a compressible buffer layer, an elastic connector, or a damping buffer, or it may be a flexible contact structure at the bottom of the distal end of the lower limb.

[0088] In the embodiments of this application, multiple control actions are described for the same action stage. Unless one control action is explicitly specified to be executed before or after another control action, the multiple control actions can be executed in a preset order, or at least partially synchronously or overlappingly.

[0089] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0090] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between apparatuses or units, and may be electrical, mechanical, or other forms.

[0091] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0092] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0093] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes 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.

Claims

1. A legged robot, characterized in that, include: The torso, including the hips; The head is connected to the torso; Two upper limbs and corresponding upper limb ends, the two upper limbs being connected to the trunk respectively; Two lower limbs and their corresponding ends, the two lower limbs being connected to the hip; At least one processor; as well as, At least one storage medium storing instructions that, when executed by the at least one processor, cause the legged robot to: In response to the spinning body trigger command, the spinning body action sequence is executed, which includes a single-leg support rotation phase, an airborne rotation phase, and a landing phase in sequence. During the single-leg support rotation phase, the distal end of the first lower limb establishes rotational support contact with the contact surface, the torso rotates, and the distal end of the second lower limb is suspended in the air and swings. The projection of the torso onto the contact surface along the direction of gravity rotates in a first preset direction, and the distal end of the second lower limb swings along the projection of the projection of the second lower limb onto the contact surface in a second preset direction. The first preset direction and the second preset direction correspond to the same direction, clockwise and counterclockwise. During the swinging of the distal end of the second lower limb, the distal end of the second lower limb also moves away from the contact surface. By controlling the distal end of the first lower limb to output a force to the contact surface, the legged robot enters the airborne rotation phase. During the aerial rotation phase, the lower limb of the first lower limb is controlled to detach from the contact surface, so that the legged robot can rotate in the air. During the landing phase, the lower limb of the second lower limb is controlled to establish a supporting contact with the contact surface. After the lower limb of the second lower limb establishes a supporting contact with the contact surface, the projection of the lower limb of the first lower limb onto the contact surface along the direction of gravity continues to swing in the second preset direction to drive the torso to rotate until the lower limb of the first lower limb establishes a supporting contact with the contact surface. The moment when the distal end of the first lower limb detaches from the contact surface is recorded as the first moment, and the moment when the distal end of the second lower limb establishes supporting contact with the contact surface is recorded as the second moment. The airborne rotation phase includes the time period from the first moment to the second moment. At the first moment, the knee joint angle of the first lower limb is greater than that of the second lower limb. The knee joint angle of the first lower limb is between 120° and 180°, and the knee joint angle of the second lower limb is between 45° and 120°. The distance between the distal end of the second lower limb and the contact surface is less than or equal to the distance between the head and the contact surface, and greater than or equal to the distance between the hip and the contact surface.

2. The legged robot according to claim 1, characterized in that, The step of executing a sequence of actions of a rotating body in response to a rotating body trigger command includes: In response to a rotary body trigger command, the legged robot is controlled to enter a preparatory posture, and a rotary body motion sequence is executed based on the preparatory posture; wherein, In the preparatory posture, the torso is tilted with its front facing the contact surface. The ends of the two lower limbs are in contact with the contact surface. The distance between the knee joint of the first lower limb and the contact surface is less than or equal to 10 cm. The distance between the end of the first upper limb and the contact surface is less than or equal to 20 cm. The first upper limb and the first lower limb are located on the same side of the torso. The elbow joint angle of the first upper limb is 100° to 180°, the knee joint angle of the first lower limb is 90° to 150°, and the knee joint angle of the second lower limb is 70° to 110°. The ratio of the distance between the hip and the contact surface to the length of the thigh of the lower limb is 0.5 to 1.0, and the ratio of the distance between the knee joints of the two lower limbs to the length of the thigh of the lower limb is greater than or equal to 1.

5. The rotating body action sequence also includes a single-hand support rotation phase preceding the single-leg support rotation phase. The single-hand support rotation phase includes: controlling the end of the first upper limb to make support contact with the contact surface; while the end of the first upper limb is in support contact with the contact surface, controlling the ends of the two lower limbs to detach from the contact surface respectively; and controlling the projection of the legged robot along the direction of gravity on the contact surface to rotate around the support area between the end of the first upper limb and the contact surface in a third preset direction, wherein the third preset direction and the first preset direction correspond to the same one of clockwise and counterclockwise directions.

3. The legged robot according to claim 2, characterized in that, When the instruction is executed by the at least one processor, during the single-arm support rotation phase, it also causes the legged robot to: While the upper limb end of the first upper limb is in supporting contact with the contact surface, the lower limb end of the first lower limb is controlled to separate from the contact surface, and the projection of the lower limb end of the first lower limb onto the contact surface along the direction of gravity is controlled to swing along a fourth preset direction. The fourth preset direction and the first preset direction correspond to the same direction between clockwise and counterclockwise. During the swinging process of the lower limb end of the first lower limb, the lower limb end of the first lower limb first gradually approaches the lower limb end of the second lower limb. After the distance between the lower limb end of the first lower limb and the lower limb end of the second lower limb reaches the minimum value, it gradually moves away from the lower limb end of the second lower limb until the lower limb end of the first lower limb re-establishes supporting contact with the contact surface. After the lower limb tip of the first lower limb separates from the contact surface, and after the distance between the lower limb tip of the first lower limb and the lower limb tip of the second lower limb decreases to a preset distance, the lower limb tip of the second lower limb is controlled to output a force to the contact surface and release the support contact with the contact surface, wherein the preset distance is less than or equal to 20cm.

4. The legged robot according to claim 2, characterized in that, In the preparatory posture, the included angle of the elbow joint of the second upper limb is 60° to 180°; the second upper limb includes a connecting end connected to the torso, the distance between the elbow joint of the second upper limb and the knee joint of the second lower limb is a first distance, the distance between the connecting end and the knee joint of the second lower limb is a second distance, and the first distance is greater than the second distance; wherein, the second upper limb and the second lower limb are located on the same side of the torso.

5. The legged robot according to claim 2, characterized in that, The single-leg support rotation phase also includes: After the lower limb tip of the first lower limb establishes supporting contact with the contact surface again, the lower limb tip of the second lower limb is controlled to move first towards the contact surface, and then move away from the contact surface. The upper limb of the first upper limb is controlled to output a thrust to the contact surface, and the support contact between the upper limb of the first upper limb and the contact surface is released. The reaction force of the contact surface acting on the upper limb of the first upper limb is used to drive the center of mass of the legged robot to rise in a direction away from the contact surface.

6. The legged robot according to claim 2, characterized in that, When the instruction is executed by the at least one processor, during the single-arm support rotation phase, it also causes the legged robot to: In the rotation state, the knee joint angle of the first lower limb is controlled to decrease to 40° to 90°, and then increase to 80° to 140°, while the knee joint angle of the second lower limb is controlled to increase to 120° to 175°, and then decrease to 60° to 130°.

7. The legged robot according to claim 1, characterized in that, The rotational body motion sequence also includes a stabilization phase following the landing phase; The stabilization phase includes: after the lower limb tip of the first lower limb establishes supporting contact with the contact surface, controlling the projection point of the center of mass of the legged robot along the direction of gravity on the contact surface to move to the supporting area between the lower limb tip of the first lower limb and the contact surface, and controlling the lower limb tip of the second lower limb to release the supporting contact with the contact surface; controlling the projection of the legged robot along the direction of gravity on the contact surface to rotate around the supporting area between the lower limb tip of the first lower limb and the contact surface in a fifth preset direction, wherein the fifth preset direction corresponds to the same direction as the first preset direction, either clockwise or counterclockwise. After the legged robot reaches a preset rotation angle, the lower limb of the second lower limb is controlled to re-establish support contact with the contact surface.

8. The legged robot according to claim 1, characterized in that, When the instruction is executed by the at least one processor, during the aerial rotation phase, it also causes the legged robot to: At the second moment, the knee joint angle of the second lower limb is 100° to 150°, the knee joint angle of the first lower limb is 45° to 130°, and the knee joint angle of the second lower limb is greater than that of the first lower limb.

9. The legged robot according to claim 1, characterized in that, When the instruction is executed by the at least one processor, during the single-leg support rotation phase, the legged robot is also instructed to: control the distal end of each upper limb to move away from the contact surface, and the minimum distance between each upper limb and the second lower limb is greater than or equal to 5 cm, so that the two upper limbs avoid the swing trajectory of the second lower limb. When the instruction is executed by the at least one processor, during the airborne rotation phase, the legged robot further controls the minimum distance between each upper limb and the first lower limb to be greater than or equal to 5 cm, and controls the minimum distance between each upper limb and the second lower limb to be greater than or equal to 5 cm, so that the two upper limbs avoid the movement trajectories of the first lower limb and the second lower limb.

10. The legged robot according to claim 1, characterized in that, When the instruction is executed by the at least one processor, during the aerial rotation phase, it also causes the legged robot to: Between the first time point and the second time point, the ratio between the distance between the knee joint of the first lower limb and the knee joint of the second lower limb and the thigh length of the lower limb is controlled to be greater than or equal to 1.

5.

11. The legged robot according to claim 1, characterized in that, When the instruction is executed by the at least one processor, during the aerial rotation phase, it also causes the legged robot to: The distal end of the second lower limb is controlled to move away from the contact surface. After the distance between the distal end of the second lower limb and the contact surface reaches a first height extreme value, the distal end of the second lower limb is controlled to move towards the contact surface to prepare for establishing a supporting contact. The distal end of the first lower limb is controlled to move away from the contact surface. After the distance between the distal end of the first lower limb and the contact surface reaches a second height extreme value, the distal end of the first lower limb is controlled to move towards the contact surface. The occurrence of the second height extreme value is later than the occurrence of the first height extreme value.

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