Patent ID: 11890762
Assignee: BEIJING XIAOMI ROBOT TECHNOLOGY CO., LTD.
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 6:
7. A method for controlling a legged robot, comprising:
obtaining a collision audio caused by acting of a foot of the legged robot on a ground of the legged robot;
generating a first collision image by sampling the collision audio;
collecting a plantar force value of the foot;
generating a second collision image according to the plantar force value and the first collision image;
generating a workable level attribute corresponding to the ground by inputting the second collision image into a first neural network model, wherein the workable level attribute is indicated by a value determined based on a degree of hardness and rigidity of the ground; and
controlling the legged robot according to the workable level attribute.