Stair climbing gait planning method and apparatus and robot using the same

Patent metadata

Field	Value
Publication number	US-11560192-B2
Application number	US-202016885227-A
Country	US
Kind code	B2
Filing date	May 27, 2020
Priority date	Apr 24, 2020
Publication date	Jan 24, 2023
Grant date	Jan 24, 2023

Abstract

The present disclosure provides a stair climbing gait planning method and an apparatus and a robot using the same. The method includes: obtaining first visual measurement data through a visual sensor of the robot; converting the first visual measurement data to second visual measurement data; and performing a staged gait planning on a process of the robot to climb the staircase based on the second visual measurement data. Through the method, the visual measurement data is used as a reference to perform the staged gait planning on the process of the robot to climb the staircase, which greatly improves the adaptability of the robot in the complex scene of stair climbing.

First claim

What is claimed is:

1. A computer-implemented stair climbing gait planning method for a robot, comprising:
providing the robot comprising a processor, and a visual sensor electrically coupled to the processor;
obtaining, by the visual sensor, first visual measurement data, wherein the first visual measurement data is pose data of a preset marker on a step of a staircase in a body coordinate system of the robot;
convening, by the processor, the first visual measurement data to second visual measurement data, wherein the second visual measurement data is pose data of the marker in a gait reference coordinate system of the robot; and
performing, by the processor, a staged gait planning for the robot to climb the staircase based on the second visual measurement data, and controlling, by the processor, the robot to advance one step of the staircase according to the staged gait planning;
wherein the step of converting, by the processor, the first visual measurement data to second visual measurement data comprises:
converting, by the processor, the first visual measurement data based on the formulas of:
x _dis= x _dis_from_vision− x _cam2foot;

z _dis= z _cam2foot− z _dis_from_vision;

y _dis= y _dis_from_vision− y _cam2foot; and

yaw_dis=yaw_dis_from_vision;

wherein, x_dis_from_vision is a component of the first visual measurement data in a forward direction, y_dis_from_vision is a component of the first visual measurement data in a lateral direction, and z_dis_from_vision is a component of the first visual measurement data in a height direction, yaw_dis_from_vision is a component of the first visual measurement data in a yaw direction, x_dis is a component of the second visual measurement data in the forward direction, and y_dis is a component of the second visual measurement data in the lateral direction, z_dis is a component of the second visual measurement data in the height direction, yaw_dis is a component of the second visual measurement data in the yaw direction, x_cam2foot is the distance from an installation position of the visual sensor to a toe position of a supporting leg in the forward direction y_cam2foot is the offset of a position of a center of mass of the robot, and z_cam2foot is the distance from the installation position of the visual sensor to the toe position of the supporting leg in the height direction.

2. The method of claim 1 , wherein the step of performing, by the processor, the staged gait planning comprises:
in a flat ground stage, setting, by the processor, first modify pose data of the robot;
calculating, by the processor, a first desired pose data based on the second visual measurement data and the first modify pose data; and
performing, by the processor, the gait planning for the flat ground stage based on the first desire pose data.

3. The method of claim 2 , wherein the step of performing, by the processor, the gait planning for the flat ground stage based on the first desire pose data comprises:
performing, by the processor, the gait planning for the flat ground stage in each of a forward direction, a lateral direction, a height direction, and a yaw direction, based on the formula of:

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Assignees

• Ubtech Robotics Corp Ltd

Inventors

• Bai Jie
• Ge Ligang
• Wang Hongge
• Liu Yizhang
• Hu Shuping
• Pang Jianxin
• Xiong Youjun

Classifications

• B25J19/023

  including video camera means · CPC title

• B25J9/1697

  Vision controlled systems · CPC title

• B62D57/02 Primary

  with ground-engaging propulsion means, e.g. walking members · CPC title

• B25J9/1669

  characterised by special application, e.g. multi-arm co-operation, assembly, grasping · CPC title

• G05D1/0891

  specially adapted for land vehicles · CPC title