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公开(公告)号:US20230182307A1
公开(公告)日:2023-06-15
申请号:US17976904
申请日:2022-10-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor: CHUNYU CHEN , Ligang Ge , Yizhang Liu , Jiangchen Zhou , Qiuhue Luo , Youjun Xiong
IPC: B25J9/16 , B62D57/032 , B25J13/08
CPC classification number: B25J9/1692 , B62D57/032 , B25J9/1664 , B25J13/089
Abstract: A jumping motion control method for a biped robot includes: before feet of the biped robot leaves a support surface, estimating a motion trajectory of the biped robot that leaves the support surface according to a period of time when the biped robot stays or flips in the air; calculating a first motion angle of each joint of legs of the biped robot according to the motion trajectory and inverse kinematics; determining a constraint condition according to a motion type to which an action to be performed by the biped robot corresponds; optimizing the first motion angles according to the constraint condition to obtain a second motion angle of each joint of legs of the biped robot; and controlling a jumping motion of the biped robot according to the second motion angles.