This application provide a method for controlling the landing of a legged robot on a plane. The legged robot includes a base and at least two robotic legs, each leg including at least one joint. The method includes: determining a first expected moving trajectory and a second expected moving trajectory corresponding to the legged robot in response to determining that the legged robot is going to contact a plane, the first expected moving trajectory indicating an expected moving trajectory of a center of mass of the legged robot and an expected moving trajectory of a change in a tilt angle of the legged robot, and the second expected moving trajectory indicating an expected moving trajectory of a foot end of each robotic leg; and controlling, based on a dynamic model and the first and second moving trajectories, an action of each joint after the legged robot contacts the plane.
METHOD, APPARATUS, AND DEVICE FOR CONTROLLING LEGGED ROBOT, LEGGED ROBOT, COMPUTER-READABLE STORAGE MEDIUM, AND COMPUTER PROGRAM PRODUCT
15.08.2024
Patent
Elektronische Ressource
Englisch
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