A legged robot (110) motion control method and apparatus (800), a device (120), a medium and a program. The legged robot (110) motion control method comprises: determining, according to state data of the legged robot (110) at a start moment in a preset cycle, a candidate landing point (430) of each foot (420) in the preset cycle (S501); determining, according to the state data at the start moment and the candidate landing point (430) of each foot (420), a first relationship between a centre-of-mass position change parameter, the candidate landing point (430) and a first foot contact force (S502); determining, subject to a set of constraints, a target centre-of-mass position change parameter, a target stepping sequence and target landing points which satisfy the first relationship (S503), wherein the set of constraints comprises constraints for constraining the stepping sequence; and controlling the legged robot (110) to move in the preset cycle according to the target centre-of-mass position change parameter, the target stepping sequence and the target landing points (S504).
LEGGED ROBOT MOTION CONTROL METHOD AND APPARATUS, DEVICE, MEDIUM AND PROGRAM
VERFAHREN UND VORRICHTUNG ZUR STEUERUNG DER BEWEGUNG EINES ROBOTERS MIT BEINEN, VORRICHTUNG, MEDIUM UND PROGRAMM
PROCÉDÉ ET APPAREIL DE COMMANDE DE MOUVEMENT DE ROBOT À JAMBES, DISPOSITIF, SUPPORT ET PROGRAMME
2024-01-03
Patent
Elektronische Ressource
Englisch
IPC: | B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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