Patent ID: 11926056
Assignee: UBTECH ROBOTICS CORP LTD
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 4:
5. The method of claim 1, wherein the performing the trajectory planning on the leg length of at least one of the legs of the robot using the equation including the reference leg length, the leg length variation range, and the preset recurrent excitation function of the time variable t comprises:
when the robot is running, performing the trajectory planning on the leg length of the right leg of the robot using the equation of:, I
   R
  
  =
  
   {
   
    
     
      
       
        
         
          
           
            
             I
             0
            
            +
            
             Af
             ⁡
             (
             t
             )
            
           
           ,
           
            S
            →
            
             D
             1
            
           
          
         
        
        
         
          
           
            d
            ⁡
            (
            t
            )
           
           ,
           
            
             D
             1
            
            →
            
             D
             2
            
           
          
         
        
       
      
     
     
      
       
        
         
          I
          0
         
         +
         
          Af
          ⁡
          (
          
           t
           ,
           
            
             -
             2
            
            ⁢
            
             ϕ
             2
            
           
          
          )
         
        
        ,
        
         
          D
          2
         
         →
         
          B
          2
         
        
       
      
     
    
    ;
   
  
 

where, recurrent excitation f∈[−1,1], ϕ2 is a phase difference between a first extreme point and a second extreme point, the first extreme point is a trajectory point upon the leg length of the left leg of the robot being at the maximum value, and the second extreme point is a trajectory point upon the leg length of the right leg of the robot being at the maximum value, d is a preset interpolating function, S is a preset starting point, B2 is a preset landing point of the right leg, D1 and D2 are trajectory points upon the leg length of the right leg of the robot being equal to the reference leg length, and lR is the leg length of the right leg of the robot.