In a posture control method for a legged robot, target posture data of the legged robot is acquired where the target posture data is posture data corresponding to a target posture to which the legged robot needs to be adjusted; plantar force information of the legged robot is determined according to the target posture data, with a friction cone formed between the legged robot and a contact surface in contact with a foot of the legged robot as a constraint condition; and the constraint condition of the friction cone is introduced, the slippage of the legged robot is reduced, and the legged robot is stably controlled to be adjusted from a current posture to the target posture according to the plantar force information.
POSTURE CONTROL METHOD AND APPARATUS, ROBOT, STORAGE MEDIUM AND PROGRAM PRODUCT
HALTUNGSSTEUERUNGSVERFAHREN UND -VORRICHTUNG, ROBOTER, SPEICHERMEDIUM UND PROGRAMMPRODUKT
PROCÉDÉ ET APPAREIL DE COMMANDE DE POSTURE, ROBOT, SUPPORT DE STOCKAGE ET PRODUIT DE PROGRAMME
2024-01-03
Patent
Elektronische Ressource
Englisch
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