The embodiment of the invention discloses a control method and device of a foot type robot, a storage medium and the foot type robot. According to the embodiment of the invention, an expected input torque value corresponding to each motor of a supporting leg of the foot type robot is obtained, and the expected input torque value is issued to the corresponding motor; an actual torque value generated when each motor executes the corresponding expected input torque value is obtained, and first foot end contact force of the supporting leg is determined according to the actual torque value of each motor; acquiring a second foot end contact force of the contact surface to the supporting leg through a force detection assembly; when the first foot end contact force is larger than the second foot end contact force, the expected input torque value of each motor is reduced according to the second foot end contact force. By adopting the scheme of the embodiment of the invention, the technical problem of high contact noise caused by overlarge contact force between the supporting legs and the ground is solved.
本申请实施例公开了一种足式机器人的控制方法、装置、存储介质及足式机器人,其中,本申请实施例获取足式机器人的支撑腿的每一电机对应的期望输入力矩值,并将期望输入力矩值下发至对应的电机;获取每一电机执行对应的期望输入力矩值所产生的实际力矩值,并根据每一电机的实际力矩值确定支撑腿的第一足端接触力;通过力检测组件获取接触面对支撑腿的第二足端接触力;以及当第一足端接触力大于第二足端接触力时,根据第二足端接触力减小每一电机的期望输入力矩值。采用本申请实施例的方案,解决了因支撑腿与地面接触力过大而导致的接触噪声大的技术问题。
Foot type robot control method and device, storage medium and foot type robot
足式机器人的控制方法、装置、存储介质及足式机器人
2023-09-01
Patent
Electronic Resource
Chinese
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