Patent ID: 11878426
Assignee: UBTECH ROBOTICS CORP LTD
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 14:
15. A non-transitory computer readable storage medium for storing one or more computer programs, wherein the one or more computer programs comprise:
instructions for obtaining, by a camera on a biped robot, a current supporting pose of a current supporting leg of the two supporting legs of the biped robot in a global coordinate system, wherein the biped robot is moved according to a preset motion path in an entire environment, and a starting point of the Motion path is taken as an origin of the global coordinate system;
instructions for calculating a relative pose between the two supporting legs of the biped robot based on the current supporting pose and a preset ideal supporting pose of a next step of the biped robot, wherein the relative pose between the two supporting legs is the preset ideal supporting pose of the next step with respect to the current supporting pose;
instructions for calculating one or more gait parameters of the next step of the biped robot based on the relative pose between the supporting legs and a joint distance of left and right ankle joints of the biped robot in an initial state of the biped robot; and
instructions for controlling a next supporting leg of the two supporting legs of the biped robot to move according to the one or more gait parameters of the next step.