公开(公告)号：US20210387332A1

公开(公告)日：2021-12-16

申请号：US17345005

申请日：2021-06-11

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zhe Xu ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08 ,  G05D1/08 ,  B62D57/032

Abstract: A method for a multi-legged robot having a body and a number of legs, includes: obtaining a current pose of the body, forces applied to the body, and joint angles of each of supporting legs of the legs; creating a mapping matrix from the forces applied to the body to desired support forces applied to soles of the supporting legs; obtaining priority targets by prioritizing the forces acting in different directions, determining a weight matrix for each priority target, and creating an optimization model of the support forces for each priority target based on the mapping matrix and the weight matrices; solving the optimization model of each of the priority targets to obtain the desired support forces corresponding to each of the priority targets; and calculating joint torques of the supporting legs for joint control, based on the solved desired support forces and Jacobian matrices corresponding to the supporting legs.

公开(公告)号：US11717958B2

公开(公告)日：2023-08-08

申请号：US17345005

申请日：2021-06-11

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zhe Xu ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08 ,  B62D57/032 ,  G05D1/08

CPC classification number: B25J9/1607 ,  B25J13/085 ,  B25J13/088 ,  B62D57/032 ,  G05D1/0891

Abstract: A method for a multi-legged robot having a body and a number of legs, includes: obtaining a current pose of the body, forces applied to the body, and joint angles of each of supporting legs of the legs; creating a mapping matrix from the forces applied to the body to desired support forces applied to soles of the supporting legs; obtaining priority targets by prioritizing the forces acting in different directions, determining a weight matrix for each priority target, and creating an optimization model of the support forces for each priority target based on the mapping matrix and the weight matrices; solving the optimization model of each of the priority targets to obtain the desired support forces corresponding to each of the priority targets; and calculating joint torques of the supporting legs for joint control, based on the solved desired support forces and Jacobian matrices corresponding to the supporting legs.