A legged robot (110) motion control method and apparatus (800), a device (120), a medium and a program. The legged robot (110) motion control method comprises: determining, according to state data of the legged robot (110) at a start moment in a preset cycle, a candidate landing point (430) of each foot (420) in the preset cycle (S501); determining, according to the state data at the start moment and the candidate landing point (430) of each foot (420), a first relationship between a centre-of-mass position change parameter, the candidate landing point (430) and a first foot contact force (S502); determining, subject to a set of constraints, a target centre-of-mass position change parameter, a target stepping sequence and target landing points which satisfy the first relationship (S503), wherein the set of constraints comprises constraints for constraining the stepping sequence; and controlling the legged robot (110) to move in the preset cycle according to the target centre-of-mass position change parameter, the target stepping sequence and the target landing points (S504).


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    Titel :

    LEGGED ROBOT MOTION CONTROL METHOD AND APPARATUS, DEVICE, MEDIUM AND PROGRAM


    Weitere Titelangaben:

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


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

    Erscheinungsdatum :

    2024-01-03


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

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



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