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

Claim 2:
3. The method of claim 2, wherein the centroid is a midpoint of a straight line between two hip joints of the biped robot, and the obtaining the supporting pose of the current supporting leg in the centroid coordinate system comprises:
obtaining a hip joint angle, a knee joint angle, and an ankle joint angle of the current supporting leg, wherein the hip joint angle is an included angle between a thigh of the current supporting leg and the hip joint, the knee joint angle is an included angle between the thigh and a calf of the current supporting leg, and the ankle joint angle is an included angle between the calf and a sole of the current supporting leg; and
analyzing the supporting pose of the current supporting leg in the centroid coordinate system based on the hip joint angle, the knee joint angle, the ankle joint angle, a thigh length of the current supporting leg, a calf length of the current supporting leg, and a distance between the two hip joints of the biped robot.