Gait planning method, computer-readable storage medium and robot

Number of patents in Portfolio can not be more than 2000

United States of America Patent

PATENT NO 11693430
APP PUB NO 20210181765A1
SERIAL NO

17114526

Stats

ATTORNEY / AGENT: (SPONSORED)

Importance

Loading Importance Indicators... loading....

Abstract

See full text

A computer-implemented gait planning method includes: determining a pitch angle between a foot of the robot and a support surface where the robot stands; determining a support point on a sole of the foot according to the pitch angle; calculating an ankle-foot position vector according to the support point, wherein the ankle-foot position vector is a position vector from an ankle of the robot to a support point on a sole of the foot; calculating a magnitude of change of an ankle position according to the pitch angle and the ankle-foot position vector; and obtaining a compensated ankle position by compensating the ankle position according to the magnitude of change of the ankle position.

Loading the Abstract Image... loading....

First Claim

See full text

Family

Loading Family data... loading....

Patent Owner(s)

  • UBTECH ROBOTICS CORP LTD

International Classification(s)

Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Bai, Jie Shenzhen, CN 123 808
Ge, Ligang Shenzhen, CN 41 5
Liu, Yizhang Shenzhen, CN 56 16
Pang, Jianxin Shenzhen, CN 88 71
Wang, Hongge Shenzhen, CN 9 1
Xiong, Youjun Shenzhen, CN 370 499

Cited Art Landscape

Load Citation

Patent Citation Ranking

Forward Cite Landscape

Load Citation

Maintenance Fees

Fee Large entity fee small entity fee micro entity fee due date
3.5 Year Payment $1600.00 $800.00 $400.00 Jan 4, 2027
7.5 Year Payment $3600.00 $1800.00 $900.00 Jan 4, 2031
11.5 Year Payment $7400.00 $3700.00 $1850.00 Jan 4, 2035
Fee Large entity fee small entity fee micro entity fee
Surcharge - 3.5 year - Late payment within 6 months $160.00 $80.00 $40.00
Surcharge - 7.5 year - Late payment within 6 months $160.00 $80.00 $40.00
Surcharge - 11.5 year - Late payment within 6 months $160.00 $80.00 $40.00
Surcharge after expiration - Late payment is unavoidable $700.00 $350.00 $175.00
Surcharge after expiration - Late payment is unintentional $1,640.00 $820.00 $410.00