JUMPING MOTION CONTROL METHOD FOR BIPED ROBOT, BIPED ROBOT AND COMPUTER-READABLE STORAGE MEDIUM

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JUMPING MOTION CONTROL METHOD FOR BIPED ROBOT, BIPED ROBOT AND COMPUTER-READABLE STORAGE MEDIUM

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CHEN CHUNYU / GE LIGANG / LIU YIZHANG / ZHOU JIANGCHEN / LUO QIUHUE / XIONG YOUJUN

A jumping motion control method for a biped robot includes: before feet of the biped robot leaves a support surface, estimating a motion trajectory of the biped robot that leaves the support surface according to a period of time when the biped robot stays or flips in the air; calculating a first motion angle of each joint of legs of the biped robot according to the motion trajectory and inverse kinematics; determining a constraint condition according to a motion type to which an action to be performed by the biped robot corresponds; optimizing the first motion angles according to the constraint condition to obtain a second motion angle of each joint of legs of the biped robot; and controlling a jumping motion of the biped robot according to the second motion angles.

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Titel :

JUMPING MOTION CONTROL METHOD FOR BIPED ROBOT, BIPED ROBOT AND COMPUTER-READABLE STORAGE MEDIUM

Beteiligte:

CHEN CHUNYU (Autor:in) / GE LIGANG (Autor:in) / LIU YIZHANG (Autor:in) / ZHOU JIANGCHEN (Autor:in) / LUO QIUHUE (Autor:in) / XIONG YOUJUN (Autor:in)

Erscheinungsdatum :

2023-06-15

Medientyp :

Patent

Format :

Elektronische Ressource

Sprache :

Englisch

Klassifikation :

IPC:

B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge

JUMPING MOTION CONTROL METHOD FOR BIPED ROBOT, BIPED ROBOT AND COMPUTER-READABLE STORAGE MEDIUM

JUMPING MOTION CONTROL METHOD FOR BIPED ROBOT, BIPED ROBOT AND COMPUTER-READABLE STORAGE MEDIUM

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