Patent ID: 11858138
Assignee: ZHEJIANG UNIVERSITY
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 2:
3. The method for realizing the dynamic running gait of the biped robot on the rough terrain road according to claim 1, wherein the control of the advancing speed of the biped robot comprises controlling a speed of the center of mass of the biped robot to approach a desired speed or maintain stable at a desired speed by a foothold of the biped robot, and a coordinate of the foothold is obtained by a formula:

Lf=K0v+Kpvv+Kdv(v−vd),

where Lf denotes the coordinate of the foothold; v denotes a speed of the biped robot; vd denotes the desired speed; K0v, Kpv, and Kdv all denote coefficient matrices that are related to a time for supporting phase of a single leg and the height of the center of mass of the biped robot, and K0v, Kpv, and Kdv and also respectively denote a constant, a proportion coefficient, and a differentiation coefficient.