The invention discloses a control method and device of a foot type robot, the foot type robot and a medium, and relates to the field of robot control. The method comprises the steps that body sensing information and external sensing information are obtained, the body sensing information is used for representing the motion state of a foot type robot body, and the external sensing information is used for representing environment information around the foot type robot; inputting the ontology perception information and the external perception information into a deep neural network to obtain a first prediction residual output by the deep neural network; performing parameter adjustment on the foot trajectory generator based on the first prediction residual error; and controlling the motion state of the foot robot based on the first joint motion parameter output by the foot track generator after parameter adjustment. By adopting the scheme provided by the embodiment of the invention, the foot-type robot can keep away from dangerous terrains and stably advance in a complex environment, and the flexibility and stability of the foot-type robot during movement in the complex environment are improved.
本申请公开了一种足式机器人的控制方法、装置、足式机器人及介质,涉及机器人控制领域。方法包括:获取本体感知信息和外部感知信息,本体感知信息用于表征足式机器人本体的运动状态,外部感知信息用于表征足式机器人周围的环境信息;将本体感知信息和外部感知信息输入深度神经网络,得到深度神经网络输出的第一预测残差;基于第一预测残差对足部轨迹生成器进行参数调整;基于参数调整后的足部轨迹生成器输出的第一关节运动参数,控制足式机器人的运动状态。采用本申请实施例提供的方案使得足式机器人能够在复杂环境下避开危险地形稳定前进,提升了足式机器人在复杂环境下运动时的灵活性和稳定性。
Control method and device of foot type robot, foot type robot and medium
足式机器人的控制方法、装置、足式机器人及介质
2023-10-27
Patent
Electronic Resource
Chinese
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