Dynamic footprint set generation method, biped robot using the same, and computer readable storage medium

Patent metadata

Field	Value
Publication number	US-11983012-B2
Application number	US-202117462019-A
Country	US
Kind code	B2
Filing date	Aug 31, 2021
Priority date	Dec 28, 2020
Publication date	May 14, 2024
Grant date	May 14, 2024

Abstract

A dynamic footprint set generation method, a biped robot using die same, and a computer readable storage medium are provided. The method includes: obtaining preset footprint calculation parameters; calculating a landing point position based on the preset footprint calculation parameters; determining a landing point range based on a landing point position, and performing a collision detection on the landing point range; recording the corresponding landing point position in a footprint set in response to the detection result representing there being no collision; obtaining a preset adjustment amplitude to update a preset displacement angle after the recording is completed; and returning to the calculating the landing point position until the footprint set is generated. By continuously adjusting the preset displacement angle, each landing point position is calculated accordingly, and the valid landing point positions are recorded in the footprint set, which provides more feasible landing points for navigation planning.

First claim

What is claimed is:

1. A computer-implemented dynamic footprint set generation method for a biped robot having two legs, comprising steps of:
obtaining preset footprint calculation parameters, wherein the preset footprint calculation parameters include a preset displacement angle and a preset minimum rotation angle;
calculating a landing point displacement based on the preset displacement angle, calculating a landing point rotation angle based on the preset displacement angle and the preset minimum rotation angle, and calculating a landing point position based on the landing point displacement and the landing point rotation angle, wherein the landing point rotation angle is for controlling an orientation of a swinging leg of the two legs;
determining a landing point range based on the landing point position, and performing a collision detection based on the landing point range to obtain a detection result;
recording the landing point position in a footprint set in response to the corresponding detection result representing there being no collision;
obtaining a preset first displacement angle adjustment amplitude;
updating the preset displacement angle based on the preset first displacement angle adjustment amplitude;
returning to the step of calculating the landing point displacement based on the preset displacement angle, determining the landing point rotation angle based on the preset displacement angle and the preset minimum rotation angle, and determining the landing point position based on the landing point displacement and the landing point rotation angle until the footprint set is generated; and
outputting the footprint set to control the biped robot to walk according to the footprint set;
wherein the calculating the landing point rotation angle based on the preset displacement angle and the preset minimum rotation angle comprises:
using the preset displacement angle as the landing point rotation angle in response to the preset displacement angle being larger than the preset minimum rotation angle; and
using the preset minimum rotation angle as the landing point rotation angle in response to the preset displacement angle being smaller than the preset minimum rotation angle.

2. The method of claim 1 , wherein after the performing the collision detection based on the landing point range to obtain the detection result, further comprises:
determining the landing point displacement corresponding to the landing point position in response to the corresponding detection result representing there being a collision;
obtaining the preset displacement adjustment amplitude;
updating the landing point displacement based on the preset displacement adjustment amplitude, and calculating the updated landing point position based on the updated landing point displacement; and
returning to the step of performing the collision detection based on the landing point range to obtain the detection result.

3. The method of claim 2 , wherein after the updating the landing point displacement based on the preset displacement adjustment amplitude, further comprises:
determining whether the updated landing point displacement is less than a preset threshold, and returning to the step of calculating the updated landing point position based on the updated landing point displacement in response to the updated landing point displacement being not less than the preset threshold;
obtaining a preset second displacement angle adjustment amplitude in response to the updated landing point displacement being less than the preset threshold, wherein the preset second displacement angle adjustment amplitude is less than the preset first displacement angle adjustment amplitude;
updating the preset displacement angle based on the preset second displacement angle adjustment amplitude; and
returning to the step of calculating the landing point displacement based on the preset displacement angle, determining the landing point rotation angle based on the preset displacement angle and the preset minimum rotation angle, and determining the landing point position based on the landing point displacement and the landing point rotation angle until the footprint set is generated.

4. The method of claim 3 , wherein returning to the step of calculating the landing point displacement based on the preset displacement angle, determining the landing point rotation angle based on the preset displacement angle and the preset minimum rotation angle, and determining the landing point position based on the landing point displacement and the landing point rotation angle until the footprint set is generated further comprises:
determining the footprint set as having been generated in response to the updated preset displacement angle meeting a preset threshold condition.

5. The method of claim 1 , wherein the landing point position comprises: the landing point displacement and the landing point rotation angle, and the determining the landing point position based on the landing point displacement and the landing point rotation angle comprises:
calculating the landing point position through an equation of:

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Assignees

• Ubtech Robotics Corp Ltd

Inventors

• Ma Xingxing
• Chen Chunyu
• Liu Yizhang
• Ge Ligang
• Wang Hongge
• Bai Jie
• Zhou Jiangchen
• Xie Zheng

Classifications

• G05D1/0214 Primary

  in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13) · CPC title

• G05D1/0231

  using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16) · CPC title

• B62D57/032 Primary

  with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid (B62D57/024 takes precedence) · CPC title

• G05D1/249

  from positioning sensors located off-board the vehicle, e.g. from cameras · CPC title

• G05D1/617

  Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80) · CPC title