A method for controlling a biped robot includes: acquiring a support phase of the biped robot in a current state; acquiring a current forward speed and a current lateral speed of a center of mass of the biped robot at an end of the support phase; acquiring a torque vector of an ankle joint of a support leg of the biped robot according to the current forward speed and the current lateral speed; acquiring a target torque vector according to the torque vector and a preset Quadratic Programming (QP) model; and controlling the biped robot to move according to the target torque vector.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    METHOD FOR CONTROLLING BIPED ROBOT, BIPED ROBOT, AND READABLE STORAGE MEDIUM


    Beteiligte:
    XIE YAN (Autor:in)

    Erscheinungsdatum :

    2024-02-15


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

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



    METHOD FOR CONTROLLING BIPED ROBOT BIPED ROBOT AND READABLE STORAGE MEDIUM

    XIE YAN | Europäisches Patentamt | 2024

    Freier Zugriff

    Biped robot control method and device, biped robot and storage medium

    CHEN CHUNYU / XIONG YOUJUN / LIU YIZHANG et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    JUMPING MOTION CONTROL METHOD FOR BIPED ROBOT, BIPED ROBOT AND COMPUTER-READABLE STORAGE MEDIUM

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

    Freier Zugriff

    Biped robot mass distribution method and biped robot

    GU JIE | Europäisches Patentamt | 2023

    Freier Zugriff

    Biped robot gait control method and biped robot

    XIONG YOUJUN / GE LIGANG / LIU YIZHANG et al. | Europäisches Patentamt | 2022

    Freier Zugriff