The invention discloses a control method and device of a quadruped robot, the robot and a storage medium, and belongs to the field of robot control. The method comprises the steps that terrain information of the environment where the quadruped robot is located is obtained, wherein the terrain information comprises a plurality of candidate footholds; determining a plurality of expected footholds in the plurality of candidate footholds, wherein the expected footholds are footholds for supporting the quadruped robot to move in the environment; and the moment of force of at least one joint in the multiple joints is controlled, so that the quadruped robot conducts random foothold movement on the multiple expected foothold points, and the expected foothold points in the random foothold movement have randomness or irregularity. According to the method and the device, the quadruped robot can stably realize random landing motion in a complex environment, and the stability and the display effect of the quadruped robot during motion in the complex environment are improved.

    本申请公开了一种四足机器人的控制方法、装置、机器人及存储介质,属于机器人控制领域。所述方法包括:获取所述四足机器人所处环境的地形信息,所述地形信息包括若干个候选落脚点;在所述若干个候选落脚点中确定若干个期望落脚点,所述期望落脚点是支撑所述四足机器人在所述环境中运动的落脚点;控制所述若干个关节中的至少一个关节的力矩,以使得所述四足机器人在所述若干个期望落脚点上进行随机落脚运动,所述随机落脚运动中的所述期望落脚点具有随机性或无规律性。本申请能够使得四足机器人能够在复杂环境下稳定的实现随机落脚运动,提升了四足机器人在复杂环境下运动时的稳定性以及展示效果。


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    Title :

    Control method and device of quadruped robot, robot and storage medium


    Additional title:

    四足机器人的控制方法、装置、机器人及存储介质


    Contributors:
    JIANG XINYANG (author) / ZHENG YU (author) / CHI WANCHAO (author) / WANG SHUAI (author) / ZHANG SHENGHAO (author) / WANG HAITAO (author)

    Publication date :

    2023-11-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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