Provided are a method, apparatus and device for controlling the movement of a legged robot, and a medium, which relate to the technical field of robots. The method comprises: acquiring centroid state data respectively corresponding to a spatial path start point and a spatial path end point of a movement path; on the basis of the spatial path start point and the spatial path end point, determining a target landing point for each foot end in the movement path; on the basis of the centroid state data, determining a change relationship between a centroid position change coefficient and a foot end contact force; under the constraint of a constraint condition set, screening for a target centroid position change coefficient that meets the change relationship, wherein the constraint condition set comprises a spatial landing point constraint condition, and the spatial landing point constraint condition is used for constraining the value of the centroid position change coefficient, such that a legged robot can reach a determined target landing point; determining a target movement control parameter according to the target centroid position change coefficient and the target landing point of each foot end; and on the basis of the target movement control parameter, controlling the legged robot to move according to the movement path.


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    Titel :

    METHOD, APPARATUS AND DEVICE FOR CONTROLLING MOVEMENT OF LEGGED ROBOT, AND MEDIUM


    Weitere Titelangaben:

    VERFAHREN, VORRICHTUNG UND VORRICHTUNG ZUR STEUERUNG DER BEWEGUNG EINES ROBOTERS MIT BEINEN UND MEDIUM
    PROCÉDÉ, APPAREIL ET DISPOSITIF DE COMMANDE DE DÉPLACEMENT DE ROBOT À JAMBES, ET SUPPORT


    Beteiligte:
    ZHENG YU (Autor:in) / JIANG XINYANG (Autor:in) / CHI WANCHAO (Autor:in) / ZHANG ZHENGYOU (Autor:in)

    Erscheinungsdatum :

    2023-10-18


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL



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