The invention belongs to the technical field of robots, and particularly relates to a gait planning method and device for ball kicking, a computer readable storage medium and a robot. The method comprises the steps of after a ball kicking command is received, making the robot carry out football search in a view field according to a preset search ball gait; if the football is searched, controllingthe robot navigate to a football kicking target point from a current position according to a preset football approaching gait; and after the ball kicking target point is arrived, controlling the robotcomplete a ball kicking action according to a preset ball kicking gait. Through the application, a plurality of different gaits are preset based on the ball kicking task of the robot, and different gait plans are selected according to different states of the robot in the ball kicking process so that an adaptability of the robot in a complex ball kicking scene is greatly improved.

    本申请属于机器人技术领域,尤其涉及一种踢球的步态规划方法、装置、计算机可读存储介质及机器人。所述方法在接收到踢球命令后,控制机器人按照预设的搜索球步态在视场中进行足球搜索;若搜索到足球,则控制所述机器人按照预设的接近球步态从当前位置导航至踢球目标点;在到达所述踢球目标点后,控制所述机器人按照预设的踢球步态完成踢球动作。通过本申请,基于机器人的踢球任务预先设置多个不同的步态,在踢球的过程中,根据机器人的不同状态来选择不同的步态规划,极大提升了机器人在复杂的踢球场景中的适应能力。


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    Title :

    Gait planning method and device for ball kicking, readable storage medium and robot


    Additional title:

    一种踢球的步态规划方法、装置、可读存储介质及机器人


    Contributors:
    BAI JIE (author) / GE LIGANG (author) / MA XINGXING (author) / LIU YIZHANG (author) / CHEN CHUNYU (author) / WANG DONG (author) / PANG JIANXIN (author) / XIONG YOUJUN (author)

    Publication date :

    2020-08-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B62D MOTOR VEHICLES , Motorfahrzeuge



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