A method and device for determining a barycenter position, a legged robot (101), equipment, and a medium, related to the technical field of computers. The method comprises: creating first relation data, creating second relation data corresponding to at least one leg with which the legged robot (101) is configured, creating third relation data on the basis of the second relation data corresponding to at least one leg, determining the value of a first constant, C, when a target value, J, is at minimum (203), and acquiring the first relation data corresponding to the first constant, C, of which the value is determined (204). The employment of the method for determining the barycenter position obviates the need to detect the states of joints of the legged robot (101), determines the trajectory of the barycenter of the legged robot (101) via the second relation data corresponding to at least one leg of the legged robot (101), and allows the legged robot (101) to move according to the determined trajectory of the barycenter, thus ensuring the efficiency of movement of the legged robot (101). This is applicable in the legged robot (101) with any number of legs and is widely applicable.
METHOD AND DEVICE FOR DETERMINING BARYCENTER POSITION, LEGGED ROBOT, AND STORAGE MEDIUM
VERFAHREN UND VORRICHTUNG ZUR BESTIMMUNG EINER SCHWERPUNKTLAGE, MIT BEINEN VERSEHENER ROBOTER UND SPEICHERMEDIUM
PROCÉDÉ ET DISPOSITIF DE DÉTERMINATION DE POSITION BARYCENTRIQUE, ROBOT MARCHEUR ET SUPPORT DE STOCKAGE
2023-02-08
Patent
Elektronische Ressource
Englisch
BARYCENTER POSITION DETERMINING METHOD AND APPARATUS, LEGGED ROBOT, AND STORAGE MEDIUM
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