Data-driven biped control device and method

This technology is a data-driven biped control device and method that maintains bipedal balance by modulating reference pose data and editing trajectories based on real-time feedback of the current pose.

Previously, bipeds faced issues with losing balance and falling due to changes in the external environment or physical external forces, as well as measurement errors that occurred when tracking motion data.

This technology proposes a balance maintenance module that modulates target poses in real-time and a synchronization module that deletes or adds frames to reference motions. By correcting discrepancies between the current pose and reference data in real-time, it maintains stable walking even under external forces. It can be applied to humanoid robots, walking robots, and robot motion production, accelerating the commercialization of bipedal robots by enabling stable walking that resists falling even when subjected to external forces.

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Key Features:

• Configuration for acquiring real-time feedback on the biped's current pose
• Balance maintenance module that modulates target poses in real-time based on the current pose
• Synchronization module that edits trajectories by deleting or adding frames to reference motions
• Maintains balance by correcting discrepancies between the current pose and reference data in real-time