The invention is suitable for the technical field of biped robots, and provides a biped robot control method and device, a biped robot and a storage medium, and the method comprises the steps: obtaining the initial distance between the mass center of a double inverted pendulum model of the biped robot and a supporting point, the initial movement speed of the mass center and the initial displacement of the mass center; according to the initial distance and the initial moving speed, obtaining a measurement value of a stable point of the double inverted pendulum model; acquiring a control output quantity according to the initial moving speed and the measured value of the stable point; according to the initial moving speed, the initial displacement and the control output quantity, obtaining an expected value of the displacement of the mass center of the double inverted pendulum model; and according to the expected value of the displacement, controlling the lateral movement of the biped robot, so the stability and the adaptive capacity of lateral movement can be effectively improved when the biped robot is interfered by the external environment or human factors, stable control over lateral movement of the biped robot is achieved, and the anti-interference capacity of the biped robot is improved.

    本申请适用于双足机器人技术领域,提供一种双足机器人控制方法、装置、双足机器人及存储介质,通过获取双足机器人的双倒立摆模型的质心与支撑点之间的初始距离、质心的初始移动速度和质心的初始位移;根据初始距离和初始移动速度,获取双倒立摆模型的稳定点的测量值;根据初始移动速度和稳定点的测量值,获取控制输出量;根据初始移动速度、初始位移和控制输出量,获取双倒立摆模型的质心的位移的期望值;根据位移的期望值,控制双足机器人侧向移动,能够有效提升双足机器人受到外界环境或人为因素的干扰时,侧向移动的稳定性与适应能力,实现对双足机器人侧向移动的稳定控制,提升双足机器人的抗干扰能力。


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    Titel :

    Biped robot control method and device, biped robot and storage medium


    Weitere Titelangaben:

    一种双足机器人控制方法、装置、双足机器人及存储介质


    Beteiligte:
    CHEN CHUNYU (Autor:in) / XIONG YOUJUN (Autor:in) / LIU YIZHANG (Autor:in) / LUO QIUYUE (Autor:in) / GE LIGANG (Autor:in) / BAI JIE (Autor:in) / ZHOU JIANGCHEN (Autor:in)

    Erscheinungsdatum :

    2021-09-07


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

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



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