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

Claim 3:
4. The method for realizing the dynamic running gait of the biped robot on a the rough terrain road according to claim 1, wherein the movement trajectory planning of the supporting leg and the movement trajectory planning of the swinging leg use phase information planning to perform contraction of the supporting leg and stretching of the swinging leg; and wherein at a moment when the supporting phase of a single leg of the biped robot is to be ended, the state is switched into in-air phase of both legs, the phase information is set to be zero, the supporting leg is interchangeable with the swinging leg, and a control program of the biped robot controls movements of the supporting leg and the swinging leg to achieve the in-air phase of the biped robot, and formulas of swinging trajectory of both legs in the in-air phase are as follows:, x
   
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where xsw and zsw denote coordinates of an end point of the swinging leg; zsu denotes an ordinate of an end point of the supporting leg; xs and zs denote initial coordinates of the end point of the swinging leg; xf and zf denote set coordinates of the end point of the swinging leg; Δh denotes a set lifting height of a leg; p denotes set phase information that is positively correlated with an execution time for current gait, and Δp denotes a set phase duration of the in-air phase; T denotes a stride cycle; fswx(xs, xf, p, T) and fswz(Δh, zf, p, T) denote planning curves of the swinging leg; zsus and zsuf respectively denote a starting ordinate and a set ordinate of the end point of the supporting leg; and
wherein a state in which both legs are in air occurs during the swinging leg lifts while the supporting leg has not fallen onto the ground, so as to achieve the running gait of the biped robot.