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

Claim 15:
16. The storage medium of claim 15, wherein the instructions for obtaining the current supporting pose of the current supporting leg of the two supporting legs of the biped robot comprise:
instructions for obtaining a centroid pose of a centroid of the biped robot in the global coordinate system and a supporting pose of the current supporting tog in a centroid coordinate system, wherein the centroid coordinate system is built by taking the centroid of the biped robot as an origin of the centroid coordinate system, and the global coordinate system corresponds to the entire environment the biped robot being located; and
instructions for obtaining the current supporting pose of the current supporting leg in the global coordinate system through a coordinate system transformation based on the supporting pose and the centroid pose.