公开(公告)号：US11698636B2

公开(公告)日：2023-07-11

申请号：US17801804

申请日：2020-05-09

Applicant: Beijing Institute of Technology

Inventor： Xuechao Chen ,  Zhangguo Yu ,  Qiang Huang ,  Zhifa Gao ,  Runming Zhang ,  Zhenyuan Fu ,  Junyao Gao

IPC: G05D1/00 ,  B62D57/032 ,  G05D1/02

CPC classification number: G05D1/0088 ,  B62D57/032 ,  G05D1/027 ,  G05D1/0212 ,  G05D1/0246 ,  G05D1/0257 ,  G05D2201/0217

Abstract: A foothold position control system and method for a biped robot are provided. 1) A feasible collision-free path is planned by using a path planning algorithm; 2) an available foothold area of a swing foot is determined according to step-length constraints, movement capabilities, foot sizes, and center offsets of a biped robot; and 3) fuzzy processing is performed to determine a specific foothold position of the biped robot. Selection of suitable foothold positions on both sides of a path when a biped robot executes specific walking actions after finishing path planning is realized. The foothold position control system and method has the advantages of being simple and easy to implement, having low computational load and high speed, being capable of exerting extreme movement capabilities of different biped robots, enabling more flexible movement of the biped robots, and so on.