CONTROL METHOD FOR ROBOT, COMPUTER-READABLE STORAGE MEDIUM AND ROBOT
CONTROL METHOD FOR ROBOT, COMPUTER-READABLE STORAGE MEDIUM AND ROBOT
- Neue Suche nach: GE LIGANG
- Neue Suche nach: LIU YIZHANG
- Neue Suche nach: CHEN CHUNYU
- Neue Suche nach: XIE ZHENG
- Neue Suche nach: XIONG YOUJUN
- Neue Suche nach: GE LIGANG
- Neue Suche nach: LIU YIZHANG
- Neue Suche nach: CHEN CHUNYU
- Neue Suche nach: XIE ZHENG
- Neue Suche nach: XIONG YOUJUN
A robot control method includes: determining a planned capture point and a measured capture point of the robot so as to calculate a capture point error of the robot; obtaining positions of a left foot and a right foot of the robot, and a planned zero moment point (ZMP) of the robot so as to calculate desired support forces of the left foot and the right foot; calculating desired torques of the left foot and the right foot according to the capture point error, the desired support forces of the left foot and the right foot; obtaining measured torques of the left foot and the right foot so as to calculate desired poses of the left foot and the right foot; and controlling the robot to walk according to the desired poses of the left foot and the desired pose of the right foot.
Dokumentinformationen
CONTROL METHOD FOR ROBOT, COMPUTER-READABLE STORAGE MEDIUM AND ROBOT
2022-06-30
Patent
Elektronische Ressource
Englisch
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