A method for a multi-legged robot having a body and a number of legs, includes: obtaining a current pose of the body, forces applied to the body, and joint angles of each of supporting legs of the legs; creating a mapping matrix from the forces applied to the body to desired support forces applied to soles of the supporting legs; obtaining priority targets by prioritizing the forces acting in different directions, determining a weight matrix for each priority target, and creating an optimization model of the support forces for each priority target based on the mapping matrix and the weight matrices; solving the optimization model of each of the priority targets to obtain the desired support forces corresponding to each of the priority targets; and calculating joint torques of the supporting legs for joint control, based on the solved desired support forces and Jacobian matrices corresponding to the supporting legs.
Joint control method, computer-readable storage medium and multi-legged robot
08.08.2023
Patent
Elektronische Ressource
Englisch
JOINT CONTROL METHOD, COMPUTER-READABLE STORAGE MEDIUM AND MULTI-LEGGED ROBOT
Europäisches Patentamt | 2021
|METHOD FOR CONTROLLING LEGGED ROBOT, ROBOT AND COMPUTER-READABLE STORAGE MEDIUM
Europäisches Patentamt | 2023
|Europäisches Patentamt | 2021
|Method for controlling legged robot, robot and computer-readable storage medium
Europäisches Patentamt | 2024
|ROBOT STATE ESTIMATION METHOD, COMPUTER-READABLE STORAGE MEDIUM, AND LEGGED ROBOT
Europäisches Patentamt | 2023
|