The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 22, 2024
Filed:
Dec. 27, 2021
Stepping down trajectory planning method, robot using the same, and computer readable storage medium
Ubtech Robotics Corp Ltd, Shenzhen, CN;
Hongge Wang, Shenzhen, CN;
Ligang Ge, Shenzhen, CN;
Yizhang Liu, Shenzhen, CN;
Jie Bai, Shenzhen, CN;
Chunyu Chen, Shenzhen, CN;
Xingxing Ma, Shenzhen, CN;
Jiangchen Zhou, Shenzhen, CN;
Youjun Xiong, Shenzhen, CN;
UBTECH ROBOTICS CORP LTD, Shenzhen, CN;
Abstract
A stepping down trajectory planning method as well as a robot using the same and a computer readable storage medium are provided. The method includes: dividing a stepping down process of the robot into a plurality of planned stages; adjusting a start position of a swing leg of the robot according to an ankle-to-heel distance, where the ankle-to-heel distance is a horizontal distance between an ankle joint of the swing leg of the robot and a heel of the swing leg of the robot; determining an initial state and an end state of the swing leg in each of the planned stages according to the start position; and obtaining a planned trajectory of the swing leg by performing a curve fitting on the swing leg in each of the planned stages the initial state and the end state.