The present disclosure provides a legged robot continuous hopping control method as well as a legged robot and a computer readable storage medium using the same. The method includes: dividing each of the phases into a desired entry stage, an actual entry stage, a during stage, and an exit and state transiting stage; detecting a transiting between the stages of the acceleration phase, the flight phase, and the deceleration phase to obtain a corresponding state detecting result; updating state information of the robot based on the state detecting result; and controlling the robot to continuously hop by transiting between the stages of the acceleration phase, the flight phase, and the deceleration phase according to the updated state information. In this manner, the stability of the continuous hopping of the legged robot can be greatly improved.
LEGGED ROBOT CONTINUOUS HOPPING CONTROL METHOD AND LEGGED ROBOT AND COMPUTER READABLE STORAGE MEDIUM USING THE SAME
22.07.2021
Patent
Elektronische Ressource
Englisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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