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

Claim 4:
5. The method of claim 4, wherein after the performing the amplitude limiting on the one or more gait parameters of the next step based on the one or more preset ideal gait parameters of the next step to obtain the one or more modified gait parameters, further comprising steps of:
determining whether a collision will occur after the next supporting leg moves according to the one or more modified gait parameters;
correcting the one or more modified gait parameters according to a pose of an object going to collide with the next supporting leg to obtain one or more second modified gait parameters, in response to the collision will occur after the next supporting leg moves according to the one or more modified gait parameters; and
controlling the next supporting leg to move according to the one or more second modified gait parameters to avoid collision.