The invention discloses a quadruped robot control method and a quadruped robot, and relates to the field of robots. The quadruped robot comprises a first leg part, a second leg part and a base part connected with the first leg part and the second leg part, the first leg part and the second leg part comprise a plurality of joints, and the method comprises the steps that the torque of at least one joint in the joints is controlled, enabling the quadruped robot to enter a biped motion state from a quadruped motion state; the moment of force of at least one joint in the multiple joints is controlled, so that the two tail ends of the second leg support the quadruped robot to keep balance; and controlling the moment of force of at least one joint in the plurality of joints to enable the quadruped robot to enter the quadruped motion state from the biped motion state. By controlling the joint torque of the quadruped robot, the first leg and the second leg are supported to be in different motion states, so that the quadruped robot performs biped motion.
本申请公开了一种四足机器人控制方法及四足机器人,涉及机器人领域。所述四足机器人包括第一腿部,第二腿部,以及连接所述第一腿部和所述第二腿部的基座部,所述第一腿部和所述第二腿部包括若干个关节,所述方法包括: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由四足运动状态进入双足运动状态;控制所述若干个关节中的至少一个关节的力矩,以使得所述第二腿部的两个末端支撑所述四足机器人保持平衡;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由所述双足运动状态进入所述四足运动状态。本申请通过控制四足机器人的关节力矩,支持第一腿部和第二腿部处于不同运动状态,使得四足机器人进行双足运动。
Quadruped robot control method and quadruped robot
四足机器人控制方法及四足机器人
2023-11-03
Patent
Electronic Resource
Chinese
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