An Omnidirectional Center-of-Mass Trajectory Planning Method for Biped Robots Based on Bilevel Model Predictive Control
May 28, 2024·
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1 min read
Qiang Huang
Junhang Lai
Xuechao Chen
Zhangguo Yu
Junyao Gao
Qingqing Li
Abstract
This authorized invention patent concerns an omnidirectional walking center-of-mass trajectory planning method for biped robots based on bilevel model predictive control.
Type
Publication
Chinese Invention Patent
Patent record
| Field | Official record |
|---|---|
| Chinese title | 基于双层模型预测控制的双足机器人全向行走质心轨迹规划方法 |
| Patent number | ZL 2022 1 1010867.6 |
| Application date | 23 August 2022 |
| Grant date | 28 May 2024 |
| Grant announcement | CN 115256396 B |
| Certificate number | 7042067 |
| Patentee | Beijing Institute of Technology |
Official inventors: 黄强、赖俊杭、陈学超、余张国、高峻峣、李庆庆。
Authors
Junhang Lai
(he/him)
Ph.D. Candidate in Robotics
Junhang Lai is a Ph.D. candidate at the Institute of Intelligent Robotics, Beijing Institute of Technology. His work focuses on humanoid and legged robot locomotion, motion planning and control, reinforcement learning, simulation-to-real deployment, and embodied intelligence systems.