A method and a device for controlling a gait of a biped robot. The method includes: selecting gait controlling parameters, and acquiring a movement trajectory of a center of mass when a zero moment point of the biped robot is located within a steady area; obtaining first numerical values of each of the gait controlling parameters of the center of mass and second numerical values of the center of mass; setting a first constraint condition when the step starting phase ends by using the first numerical values, and setting a second constraint condition when the step ending phase starts by using the second numerical values; calculating the movement trajectories of the center of mass in the step starting phase and the step ending phase on the basis of the first constraint condition and the second constraint condition, respectively; and controlling a walking of the biped robot.


    Access

    Download


    Export, share and cite



    Title :

    Method and device for controlling gait of biped robot


    Contributors:

    Publication date :

    2018-07-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

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



    Biped robot gait control method and biped robot

    XIONG YOUJUN / GE LIGANG / LIU YIZHANG et al. | European Patent Office | 2022

    Free access

    Biped robot gait control method and biped robot

    XIONG YOUJUN / GE LIGANG / LIU YIZHANG et al. | European Patent Office | 2020

    Free access

    METHOD AND DEVICE FOR CONTROLLING GAIT OF BIPED ROBOT

    SU PENGCHENG | European Patent Office | 2018

    Free access

    Method for stably controlling gait of biped robot under slope condition

    FENG CHUN / GUO HUN / JIANG WEI et al. | European Patent Office | 2020

    Free access

    GAIT CONTROL METHOD, DEVICE, AND TERMINAL DEVICE FOR BIPED ROBOT

    XIONG YOUJUN / GE LIGANG / CHEN CHUNYU et al. | European Patent Office | 2019

    Free access