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    Joint control method, computer-readable storage medium and multi-legged robot

    Joint control method, computer-readable storage medium and multi-legged robot

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    A method for a multi-legged robot having a body and a number of legs, includes: obtaining a current pose of the body, forces applied to the body, and joint angles of each of supporting legs of the legs; creating a mapping matrix from the forces applied to the body to desired support forces applied to soles of the supporting legs; obtaining priority targets by prioritizing the forces acting in different directions, determining a weight matrix for each priority target, and creating an optimization model of the support forces for each priority target based on the mapping matrix and the weight matrices; solving the optimization model of each of the priority targets to obtain the desired support forces corresponding to each of the priority targets; and calculating joint torques of the supporting legs for joint control, based on the solved desired support forces and Jacobian matrices corresponding to the supporting legs.

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    Titel :

    Joint control method, computer-readable storage medium and multi-legged robot

    Beteiligte:
    XU ZHE (Autor:in) / ZHAO MINGGUO (Autor:in) / XIONG YOUJUN (Autor:in)
    Erscheinungsdatum :

    2023-08-08

    Medientyp :

    Patent

    Format :

    Elektronische Ressource

    Sprache :

    Englisch

    Klassifikation :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen

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