The invention provides a biped robot falling protection method and device, a controller and a medium, and relates to the technical field of robot control. The tumble protection method for the biped robot comprises the steps that in the movement process of the biped robot, whether the biped robot is about to tumble or not is detected; if the biped robot is about to fall down, optimal value solving is carried out on the preset target optimization parameters, and a fall-down protection movement track is determined; and controlling the biped robot to perform tumble protection motion according to the tumble protection motion trail. When it is determined that the biped robot is about to fall down, optimal value solving is carried out on the preset target optimization parameters, a fall-down protection movement track is determined, the biped robot is controlled to carry out fall-down protection movement based on the fall-down protection movement track, and damage to the robot in the fall-down process is avoided.
本发明提供一种双足机器人摔倒保护方法、装置、控制器及介质,涉及机器人控制技术领域。该双足机器人摔倒保护方法包括:在双足机器人运动的过程中,检测双足机器人是否即将跌倒;若双足机器人即将跌倒,则对预设目标优化参数进行最优值求解,确定摔倒保护运动轨迹;根据摔倒保护运动轨迹,控制双足机器人进行摔倒保护运动。在确定双足机器人即将跌倒时,对对预设目标优化参数进行最优值求解,确定摔倒保护运动轨迹,基于摔倒保护运动轨迹控制双足机器人进行摔倒保护运动,避免机器人在摔倒过程中的损坏。
Biped robot falling protection method and device, controller and medium
双足机器人摔倒保护方法、装置、控制器及介质
2022-03-29
Patent
Electronic Resource
Chinese
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