A walking control method for a biped robot includes: detecting whether the biped robot is in an unbalanced state; in response to detection that the biped robot is in the unbalanced state, obtaining a predicted balance step length corresponding to the biped robot in the unbalanced state; performing a smooth transition processing on the predicted balance step length according to a current movement step length of the biped robot to obtain a desired balance step length corresponding to the predicted balance step length; determining a planned leg trajectory of the biped robot according to the desired balance step length; and controlling a current swing leg of the biped robot to move according to the planned leg trajectory.


    Access

    Download


    Export, share and cite



    Title :

    Walking control method, biped robot and computer-readable storage medium


    Contributors:
    CHEN CHUNYU (author) / BAI JIE (author) / LIU YIZHANG (author) / GE LIGANG (author) / XIE ZHENG (author) / XIONG YOUJUN (author)

    Publication date :

    2025-05-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



    ROBOT CONTROL METHOD, COMPUTER-READABLE STORAGE MEDIUM AND BIPED ROBOT

    CHEN CHUNYU / LIU YIZHANG / GE LIGANG et al. | European Patent Office | 2021

    Free access

    Robot control method, computer-readable storage medium and biped robot

    CHEN CHUNYU / LIU YIZHANG / GE LIGANG et al. | European Patent Office | 2024

    Free access

    Jumping motion control method for biped robot, biped robot and computer-readable storage medium

    CHEN CHUNYU / GE LIGANG / LIU YIZHANG et al. | European Patent Office | 2025

    Free access

    JUMPING MOTION CONTROL METHOD FOR BIPED ROBOT, BIPED ROBOT AND COMPUTER-READABLE STORAGE MEDIUM

    CHEN CHUNYU / GE LIGANG / LIU YIZHANG et al. | European Patent Office | 2023

    Free access

    Biped robot, walking control method and device thereof and readable storage medium

    LUO MIN / GE LIGANG | European Patent Office | 2025

    Free access