A method for controlling motion of a two-legged robot includes: acquiring gait parameters of the two-legged robot; inputting the gait parameters to a preset gait planning model; determining gait trajectory parameters of the two-legged robot based on the gait parameters through the preset gait planning model, in which the gait trajectory parameters include a center-of-mass state corresponding to a double support phase and a center-of-mass state corresponding to a single support phase, and the center-of-mass state includes a center-of-mass position and a center-of-mass movement speed; and controlling the two-legged robot to move according to the gait trajectory parameters.
MOTION CONTROL METHOD AND TWO-LEGGED ROBOT
BEWEGUNGSSTEUERUNGSVERFAHREN UND ZWEIBEINIGER ROBOTER
PROCÉDÉ DE COMMANDE DE MOUVEMENT ET ROBOT À DEUX JAMBES
2024-02-14
Patent
Elektronische Ressource
Englisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Motion control method and device for multi-legged robot
Europäisches Patentamt | 2024
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