公开(公告)号：US20210154853A1

公开(公告)日：2021-05-27

申请号：US16734400

申请日：2020-01-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： HONGGE WANG ,  Ligang Ge ,  Yizhang Liu ,  Jie Bai ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16 ,  B25J9/00

Abstract: The present disclosure provides a robot motion control method as well as an apparatus and a robot using the same. The method includes: obtaining geometric parameter(s) of a target step, where the geometric parameters comprise a step width and a step height of the target step; determining at least two time-displacement coordinates and a velocity vector corresponding to each time-displacement coordinate based on the geometric parameters; generating a motion trajectory by fitting the at least two time-displacement coordinates and the corresponding velocity vectors; and controlling feet of the robot to move based on the motion trajectory. In this manner, the feet of the robot can be prevented from colliding violently with the step during going up the step so as to improve the safety and stability.