Humanoid Robot Swing-Leg Trajectory Planning Under Disturbance

The patent changes the planning parameter from time variable to phase variable. The phase variable is defined based on the robot's internal state (position components of the torso), transforming the trajectory planning from a time-driven approach to a state-driven approach. This allows the swinging leg trajectory to automatically adapt to environmental disturbances while maintaining stable gait, resolving the contradiction between implementation simplicity and adaptability.

The patent replaces the time variable parameter with a phase variable parameter in the control system. The phase variable is constructed from the position components of the robot's torso, creating a state-based control parameter. This transformation enables the control system to automatically adjust swing time in response to environmental disturbances while maintaining relatively simple system architecture, thus resolving the contradiction between control system complexity and adaptability.

The patent defines the phase variable using a mathematical relationship with the position components of the robot's torso. This parameter transformation provides a systematic and elegant solution that achieves adaptability to environmental disturbances. While the mathematical formulation is more complex than simple time-based planning, the overall system complexity is managed through the coherent state-based framework, achieving a balance between adaptability and complexity.