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

Claim 13:
14. The robot of claim 13, wherein the instructions for calculating the one or more gait parameters of the next step of the biped robot based on the relative pose between the supporting legs and the joint distance of the left and right ankle joints of the biped robot in the initial state of the biped robot comprise:
instructions for identifying whether the current supporting leg is a right foot of the two supporting legs;
instructions for substituting the relative pose between the supporting legs and the joint distance into second equations to calculate the one or more gait parameters of the next step in response to the current supporting leg being the right foot, wherein the second equations are:

x4=x3−α/2×sin θ3;

y4=y3−α/2×(1+cos θ3); and

θ4=θ3;

where, x4 is a lateral displacement of the one or more gait parameters of the next step, y4 is a forward displacement of the one or more gait parameters of the next step, and θ4 is a yaw angle of the one or more gait parameters of the next step, and α is the joint distance; and
instructions for substituting the relative pose between the supporting legs and the joint distance into third equations to calculate the one or more gait parameters of the next step in response to the current supporting leg being not the left foot, wherein the third equations are:

x4=x3−α/2×sin θ3;

y4=y3−α/2×(1+cos θ3); and

θ4=θ3;