本申请提供一种足式机器人运动控制方法、装置、设备及介质,涉及机器人技术领域,用于提高足式机器人运动与环境的适应程度。该方法包括:获取在规划周期内起始时刻的状态数据;根据起始时刻的状态数据,确定在规划周期内各足端的候选落脚点;根据起始时刻的状态数据、候选落脚点确定质心位置变化系数、迈步占空比、落脚点与足端接触力之间的第一关系式;在约束条件集合的约束下,确定满足第一关系式的目标质心位置变化系数、目标迈步占空比和目标落脚点;根据目标质心位置变化系数、目标迈步占空比和目标落脚点,控制足式机器人在规划周期内运动。

    A method and apparatus for controlling the movement of a legged robot, and a device, a medium and a program. The method comprises: according to state data of a legged robot at a starting moment within a preset period, determining candidate landing points of foot ends within the preset period (S501); according to the state data at the starting moment and the candidate landing points of the foot ends, determining a first relational expression between a centroid position change parameter, a step duty cycle, the candidate landing points and a foot-end contact force (S502); and under the constraint of a constraint condition set, determining a target centroid position change parameter, a target step duty cycle and a target landing point that satisfy the first relational expression (S503); and according to the target centroid position change parameter, the target step duty cycle and the target landing point, controlling the legged robot to move within the preset period (S504).


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    足式机器人运动控制方法、装置、设备及介质


    Erscheinungsdatum :

    2023-07-18


    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