A robot state estimation method, a computer-readable storage medium, and a legged robot are provided. The method includes: obtaining force information of a left leg of a robot and a right leg of the robot; calculating a ZMP of the robot in a world coordinate system based on the force information of the left leg and the force information of the right leg; and calculating a position of a center of mass (CoM) of the robot based on a preset linear inverted pendulum model. In this manner, a brand-new linear inverted pendulum model is constructed in advance, which uses the ZMP of the robot as a supporting point of the model, thereby fully considering the influence of the change of the position of the ZMP of the robot on the position of the CoM.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    ROBOT STATE ESTIMATION METHOD, COMPUTER-READABLE STORAGE MEDIUM, AND LEGGED ROBOT


    Beteiligte:
    GE LIGANG (Autor:in) / LIU YIZHANG (Autor:in) / CHEN CHUNYU (Autor:in) / XIE ZHENG (Autor:in) / XIONG YOUJUN (Autor:in)

    Erscheinungsdatum :

    2023-08-31


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS / G01M TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES , Prüfen der statischen oder dynamischen Massenverteilung rotierender Teile von Maschinen oder Konstruktionen



    METHOD FOR CONTROLLING LEGGED ROBOT, ROBOT AND COMPUTER-READABLE STORAGE MEDIUM

    CHEN CHUNYU / LIU YIZHANG / GE LIGANG et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    ROBOT CONTROL METHOD, LEGGED ROBOT USING THE SAME, AND COMPUTER-READABLE STORAGE MEDIUM

    HU YISEN / DONG HAO / DING HONGYU et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    LEGGED ROBOT CONTINUOUS HOPPING CONTROL METHOD AND LEGGED ROBOT AND COMPUTER READABLE STORAGE MEDIUM USING THE SAME

    WANG YUESONG / DONG HAO / YANG GUOPING et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Joint control method, computer-readable storage medium and multi-legged robot

    XU ZHE / ZHAO MINGGUO / XIONG YOUJUN | Europäisches Patentamt | 2023

    Freier Zugriff

    JOINT CONTROL METHOD, COMPUTER-READABLE STORAGE MEDIUM AND MULTI-LEGGED ROBOT

    XU ZHE / ZHAO MINGGUO / XIONG YOUJUN | Europäisches Patentamt | 2021

    Freier Zugriff