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).
METHOD AND APPARATUS FOR CONTROLLING MOVEMENT OF LEGGED ROBOT, AND DEVICE, MEDIUM AND PROGRAM
VERFAHREN UND VORRICHTUNG ZUR STEUERUNG DER BEWEGUNG EINES ROBOTERS MIT BEINEN UND VORRICHTUNG, MEDIUM UND PROGRAMM
PROCÉDÉ ET APPAREIL DE COMMANDE DU DÉPLACEMENT D'UN ROBOT MARCHEUR, DISPOSITIF, SUPPORT, ET PROGRAMME
2023-10-18
Patent
Elektronische Ressource
Englisch
METHOD, APPARATUS AND DEVICE FOR CONTROLLING MOVEMENT OF LEGGED ROBOT, AND MEDIUM
Europäisches Patentamt | 2023
|Europäisches Patentamt | 2024
|LEGGED ROBOT MOVEMENT CONTROL METHOD, APPARATUS AND DEVICE, AND MEDIUM
Europäisches Patentamt | 2023
|