The invention relates to the technical field of robots, and discloses a gait control method and device of a foot-type robot and the foot-type robot, and the method comprises the steps that legs of the foot-type robot are controlled through a preset gait sequence, and the gait sequence comprises a swinging phase and a supporting phase; in the current control period, if it is not detected that the first leg touches the ground under the condition that the first leg of the foot type robot is currently in a swing phase, N ground touch delay control periods are added after the last control period of the swing phase of a gait sequence corresponding to the first leg, and a first gait sequence is generated; the delay grounding control period is in a swing phase, and N is greater than or equal to 2; and issuing the first gait sequence so as to control the first leg according to the first gait sequence in a subsequent control period. According to the invention, the gait sequence of the mechanical leg is delayed, so that the mechanical leg is always in a swing phase before touching the ground and can walk on a rugged ground.

    本发明涉及机器人技术领域,公开了足式机器人的步态控制方法、装置及足式机器人,该方法包括:通过预设步态序列控制足式机器人的腿,所述步态序列包括摆动相和支撑相;在当前控制周期,在足式机器人的第一腿当前处于摆动相的情况下,若未检测到所述第一腿触地,在所述第一腿对应的步态序列的摆动相的最后一个控制周期后,增加N个延迟触地控制周期,生成第一步态序列;所述延迟触地控制周期处于摆动相,且N≥2;发布所述第一步态序列,以在之后的控制周期按照所述第一步态序列控制所述第一腿本发明延后机械腿的步态序列,使得机械腿在触地之前一直处于摆动相,能够行走于崎岖地面。


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    Titel :

    Gait control method and device of foot-type robot and foot-type robot


    Weitere Titelangaben:

    足式机器人的步态控制方法、装置及足式机器人


    Beteiligte:
    FAN FUFEI (Autor:in) / CHEN DIANHAO (Autor:in) / LIU DUN (Autor:in) / GUO DEJUN (Autor:in) / DA XINGYE (Autor:in)

    Erscheinungsdatum :

    13.05.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B62D MOTOR VEHICLES , Motorfahrzeuge



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