A method for generating a joint command (302) includes receiving an action script (202) including a plurality of actions (210) for execution by a legged robot (100), where each action is associated with a cost (336). The method also includes identifying that two or more actions of the plurality of actions of the action script occur at the same time. The method also includes determining a combined action performed by the legged robot at the moment based on the two or more actions and costs associated with the two or more actions. The method additionally includes generating a joint command to control movement of the legged robot at a moment when the joint command commands a set of joints (J) of the legged robot. Here, the set of joints corresponds to a combined action.
一种用于生成关节命令(302)的方法包括接收动作脚本(202),该动作脚本(202)包括供有腿机器人(100)执行的多个动作(210),其中每个动作与成本(336)相关联。该方法还包括识别该动作脚本的多个动作中的两个或更多个动作在同一时刻发生。该方法还包括基于两个或更多个动作以及与两个或更多个动作相关联的成本来确定有腿机器人在该时刻执行的组合动作。该方法另外包括在关节命令命令有腿机器人的一组关节(J)的时刻,生成关节命令以控制有腿机器人的运动。在这里,该一组关节对应于组合动作。
Robot dance
机器人编舞
2022-05-10
Patent
Elektronische Ressource
Chinesisch
Kraftfahrwesen | 1999
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