The invention provides a control method and device of a bouncing robot and a storage medium, and relates to the technical field of robots. The method comprises the following steps: acquiring a toppling time parameter of the bouncing robot at the current moment, wherein the toppling time parameter is used for representing the falling speed of the bouncing robot; according to the toppling time parameter, the mass center speed of the bouncing robot at the current moment and the distance between the mass center of the bouncing robot at the current moment and the landing foot, the landing angle of the landing foot at the current moment is calculated; the landing angle is used for representing an included angle between a straight line determined by a sole center point of the landing foot and a trunk center point in the bouncing robot and the landing ground in the direction perpendicular to the landing ground; according to the landing angle of the landing foot at the current moment, motion control is carried out on the bouncing robot, and in the process, due to the fact that the requirement for trajectory tracking precision is low, the control cost of the bouncing robot can be reduced.

    本申请提供一种弹跳机器人的控制方法、装置及存储介质,涉及机器人技术领域。该方法包括:获取当前时刻弹跳机器人的倾倒时间参数,倾倒时间参数用于表征弹跳机器人摔倒的快慢程度;根据倾倒时间参数、当前时刻弹跳机器人的质心速度以及当前时刻弹跳机器人的质心到着地足之间的距离,计算当前时刻着地足的落地角,落地角用于表征着地足的脚掌中心点和弹跳机器人中躯干中心点确定的直线与着地地面相垂直方向上的夹角;根据当前时刻着地足的落地角对弹跳机器人进行运动控制,在此过程中,由于对轨迹跟踪精度的要求较低,因此,可以降低弹跳机器人的控制成本。


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    Title :

    Control method and device of bouncing robot and storage medium


    Additional title:

    弹跳机器人的控制方法、装置及存储介质


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

    Publication date :

    2022-10-25


    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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