Xiaopeng Motors releases patent for bipedal robot gait control, capable of walking on rugged terrain.

As shown on the Tianyancha App, on May 13th, the patent for "Gait control method, device and humanoid robot" applied by Guangzhou Xiaopeng Automobile Technology Co., Ltd. was published. The abstract shows that the method includes: controlling the legs of a humanoid robot through a preset gait sequence, which includes swing phase and support phase; in the current control cycle, when the first leg of the humanoid robot is in the swing phase, if the first leg does not detect a touch on the ground, after the last control cycle of the swing phase of the corresponding gait sequence of the first leg, N delayed landing control cycles are added to generate the first gait sequence; the delayed landing control cycle is in the swing phase and N2; the first gait sequence is released, and in the following control cycle, the first leg is controlled according to the first gait sequence, delaying the gait sequence of the mechanical leg of the first leg, so that the mechanical leg is always in the swing phase before touching the ground, allowing it to walk on uneven surfaces.