Robot control method, computer-readable storage medium and biped robot

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Robot control method, computer-readable storage medium and biped robot

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CHEN CHUNYU / LIU YIZHANG / GE LIGANG / XIE ZHENG / XIONG YOUJUN / PANG JIANXIN

A robot control method includes: acquiring distances between a center of mass (COM) of the biped robot and each of preset key points of feet of the biped robot, and acquiring an initial position of the COM of the biped robot; calculating a position offset of the COM based on the distances; adjusting the initial position of the COM based on the position offset of the COM to obtain a desired position of the COM of the biped robot; and determining desired walking parameters of the biped robot based on the desired position of the COM by using a preset inverse kinematics algorithm, wherein the desired walking parameters are configured to control the biped robot to walk.

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Titel :

Robot control method, computer-readable storage medium and biped robot

Beteiligte:

CHEN CHUNYU (Autor:in) / LIU YIZHANG (Autor:in) / GE LIGANG (Autor:in) / XIE ZHENG (Autor:in) / XIONG YOUJUN (Autor:in) / PANG JIANXIN (Autor:in)

Erscheinungsdatum :

2024-03-12

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

Robot control method, computer-readable storage medium and biped robot

Robot control method, computer-readable storage medium and biped robot

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