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.


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    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 :

    31.08.2023


    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



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