The embodiment of the invention provides a motion control method and device for a foot type robot and the foot type robot. According to the method provided by the embodiment of the invention, the artificial intelligence technology is utilized, and the follow-up movement track and gait of the foot robot are planned based on the current state information of the foot robot containing the spine joints through the neural network model trained based on the movement data collected from the living body. According to the method provided by the embodiment of the invention, the track and the gait can be automatically planned in real time, the motion control efficiency of the foot type robot is improved, and the track and the gait of the controlled foot type robot are more flexible and bionic. In addition, by omitting control over the spine joints, the method is also suitable for the foot type robot without the spine joints.
本公开的实施例提供了一种用于足式机器人的运动控制方法、装置以及足式机器人。本公开的实施例所提供的方法利用人工智能技术,通过基于从活体采集的运动数据所训练的神经网络模型,基于包含脊柱关节的足式机器人的当前状态信息来规划其后续运动轨迹和步态。通过本公开的实施例所提供的方法能够实时自动地规划轨迹和步态,提高了对足式机器人的运动控制效率,且使得所控制的足式机器人的轨迹和步态更灵活且仿生。此外,通过省略对脊柱关节的控制,该方法也同样适用于无脊柱关节的足式机器人。
Motion control method and device for foot type robot and foot type robot
用于足式机器人的运动控制方法和装置及足式机器人
2023-03-24
Patent
Electronic Resource
Chinese
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