A method for controlling motion of a legged robot includes determining one or more candidate landing points for each foot of the robot. The method further includes determining a first correlation between a center of mass position change parameter, candidate landing points, and foot contact force. The method further includes determining, under a constraint condition set and based on the first correlation, a target center of mass position change parameter, a target step order, and a target landing point for each foot selected among the one or more candidate landing points for the respective foot, the constraint condition set constraining a step order. The method further includes controlling, according to the target center of mass position change parameter, the target step order, and the target landing point for each foot, motion of the legged robot in the preset period.
CONTROLLING FOOT LANDING POINTS AND STEP ORDER OF LEGGED ROBOT BASED ON FOOT CONTACT FORCE
2023-03-09
Patent
Elektronische Ressource
Englisch
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