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

Claim 19:
20. The storage medium of claim 17, wherein the instructions for performing the trajectory planning on the lea length of at least one of the leas of the robot using the equation including the reference leg length, the leg length variation range, and the preset recurrent excitation function of the tune variable t comprise:
instructions for, when the robot is running, performing the trajectory planning on the leg length of the left leg of the robot using an equation of

lL=l0+Af(t,−ϕ2)

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, the second extreme point is a trajectory point upon the leg length of the right leg of the robot being at the maximum value, and lL is the leg length of the left leg of the robot.