Robot balance control method, computer-readable storage medium and robot
Robot balance control method, computer-readable storage medium and robot
- Neue Suche nach: CHEN CHUNYU
- Neue Suche nach: LIU YIZHANG
- Neue Suche nach: GE LIGANG
- Neue Suche nach: XIE ZHENG
- Neue Suche nach: XIONG YOUJUN
- Neue Suche nach: PANG JIANXIN
- Neue Suche nach: CHEN CHUNYU
- Neue Suche nach: LIU YIZHANG
- Neue Suche nach: GE LIGANG
- Neue Suche nach: XIE ZHENG
- Neue Suche nach: XIONG YOUJUN
- Neue Suche nach: PANG JIANXIN
A robot balance control method includes: obtaining force information associated with a left foot and a right foot of the robot; calculating a zero moment point of a center of mass (COM) of a body of the robot based on the force information; calculating a first position offset and a second position offset of the robot according to the zero moment point of the COM of the body; updating a position trajectory of the robot according to the first position offset and the second offset to obtain an updated position of the COM of the body; performing inverse kinematics analysis on the updated position of the COM of the body to obtain joint angles of the left leg and the right leg of the robot; and controlling the robot to move according to the joint angles.
Dokumentinformationen
Robot balance control method, computer-readable storage medium and robot
2023-03-14
Patent
Elektronische Ressource
Englisch
| IPC: | B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge / G01L Messen von Kraft, mechanischer Spannung, Drehmoment, Arbeit, mechanischer Leistung, mechanischem Wirkungsgrad oder des Drucks von Fluiden , MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE / 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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