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

Claim 19:
20. The storage medium of claim 18, wherein the one or more gait parameters comprise a forward displacement, a lateral displacement, and a yaw angle, and the instructions for calculating the relative pose between the supporting legs of the biped robot based on the current supporting pose and the preset ideal supporting pose of the next step of the biped robot comprise:
instructions for substituting the current supporting pose and the preset ideal supporting pose of the next step into first equations to calculate the relative pose between the supporting legs, wherein the first equations are:

x3=(x2−x1)×cos θ1+(y2−y1)×sin θ1;

and

θ3=θ2−θ1;

where x1, y1, and θ1 represent the current supporting pose, x1 represents a displacement in the x direction of a global coordinate system, y1 represents a displacement in the y direction of the global coordinate system, and θ1 represents a yaw angle; x2, y2, and θ2 represent the preset ideal supporting pose of the next step, x2 represents a displacement in the x direction of the global coordinate system, y2 represents a displacement in the y direction of the global coordinate system, and θ2 represents a yaw angle; and x3 is a lateral displacement of the relative pose between the supporting legs, y3 is a forward displacement of the relative pose between the supporting legs, and θ3 is a yaw angle of the relative pose between the supporting legs.