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

Claim 1:
2. The method of claim 1, wherein the obtaining, by the camera on the biped robot, the current supporting pose of the current supporting leg of the two supporting legs of the biped robot in the global coordinate system comprises:
capturing, by the camera, an image of an environment, and calculating a pose of the camera in the global coordinate system;
obtaining a centroid pose of a centroid of the biped robot in the global coordinate system base on a coordinate conversion relationship between the camera and the centroid of the biped robot and the pose of the camera, and obtaining a supporting pose of the current supporting leg 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, the global coordinate system corresponds to the entire environment the biped robot being located, and the preset motion path is represented by corresponding coordinates of points in the global coordinate system; and
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.