The invention provides a walking control method, device and equipment of a biped robot and a storage medium, and belongs to the technical field of robot automatic control. The method comprises the steps of obtaining the position of a target label of a target step, wherein the target label is arranged on the target step; determining the information of the height, relative to the current position, of the target step according to the position of the target label; determining the position of a target foothold according to the current position and the information of the height; determining the moving path of the centroid of the biped robot according to the position of the target foothold and the current centroid position of the biped robot; and controlling the both feet of the biped robot to walk to the target foothold according to the joint angle changing sequence corresponding to the centroid moving path. The way that the robot climbs the stairs and walks down the stairs can be determined according to the height of the stairs and the ground related information, and the flexibility of the biped robot is improved.

    本申请提供一种双足机器人行走控制方法、装置、设备及存储介质,属于机器人自动控制技术领域。该方法包括:获取目标台阶的目标标签位置,目标标签设置于目标台阶上;根据目标标签位置确定目标台阶相对当前位置的高度信息;根据当前位置以及高度信息确定目标落脚点的位置;根据目标落脚点的位置以及双足机器人的当前质心位置,确定双足机器人的质心移动轨迹;控制双足机器人的双足按照质心移动轨迹对应的关节角度变换序列行走至目标落脚点。本申请可以根据楼梯的高度以及地面相关信息来确定上下楼梯的方式,提高了双足机器人的灵活性。


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    Title :

    Walking control method, device and equipment of biped robot and storage medium


    Additional title:

    双足机器人行走控制方法、装置、设备及存储介质


    Contributors:
    LENG XIAOKUN (author) / CHANG LIN (author) / WANG SONG (author) / BAI XUELIN (author) / KE ZHENDONG (author) / WU YUCONG (author) / HE ZHICHENG (author) / HUANG XIANXIAN (author)

    Publication date :

    2021-07-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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