The invention is suitable for the technical field of robot movement control, and provides a movement control method and a movement control device for a robot, the robot and a computer readable storage medium. The method comprises the steps of acquiring the geometric parameters of a target step, wherein the geometric parameters comprise the stepping width and the stepping height of the target step; determining at least two time-displacement coordinates and a velocity vector corresponding to each time-displacement coordinate according to the geometric parameters; based on the at least two time-displacement coordinates and the corresponding velocity vectors, fitting to generate a movement track; and controlling feet of the robot to move based on the movement track. By means of the method, the feet of the robot can be prevented from violently colliding with the steps in the step climbing process, and step climbing is safer and more stable.
本申请适用于机器人运动控制技术领域,提供了一种机器人的运动控制方法、运动控制装置、机器人及计算机可读存储介质,所述方法包括:获取目标台阶的几何参数,其中,所述几何参数包括所述目标台阶的踏步宽度和踏步高度;根据所述几何参数确定至少二个时间‑位移坐标以及每个时间‑位移坐标对应的速度矢量;基于所述至少二个时间‑位移坐标和对应的速度矢量拟合生成运动轨迹;控制所述机器人的足部基于所述运动轨迹运动。通过上述方法,可以使机器人在上台阶过程中足部避免与台阶发生剧烈碰撞,上台阶更加安全平稳。
Movement control method and movement control device for robot and robot
一种机器人的运动控制方法、运动控制装置及机器人
2021-05-25
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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