A multi-legged robot load balancing method, a multi-legged robot, and a storage medium are provided. The method includes: calculating a current position and velocity of a load positioned on a torso according to a value measured by a force sensor; calculating, through a feedback control law, a desired posture of the torso required for keeping a balance of the load according to the current position and the current velocity of the load; determining an expected position of virtual joints according to the desired posture of the torso, and calculating, using a full dynamics control algorithm of the robot, a joint torque for each real joint of the robot according to the expected position; and transmitting the calculated joint torques to the corresponding real joints so that the torso is moved to reach the desired posture by moving the corresponding real joints.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    MULTI-LEGGED ROBOT LOAD BALANCING METHOD, MULTI-LEGGED ROBOT, AND STORAGE MEDIUM


    Beteiligte:
    XU ZHE (Autor:in) / ZHAO MINGGUO (Autor:in) / XIONG YOUJUN (Autor:in)

    Erscheinungsdatum :

    21.09.2023


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



    Multi-legged robot

    ZHANG MEI | Europäisches Patentamt | 2020

    Freier Zugriff

    Multi-legged robot

    WANG HONGTAO / JIN YONGBIN / LIU XIANWEI et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Multi-legged robot

    Europäisches Patentamt | 2025

    Freier Zugriff

    Multi-legged robot

    LI JIAYI / ZHANG MIN / GUO ZIHENG et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Multi-legged robot with multi-legged mechanical steering structure

    LV JUN | Europäisches Patentamt | 2023

    Freier Zugriff