The invention relates to a robot control method and device, a robot and a storage medium, and the method comprises the steps that a current foot end state is obtained, and the foot end state comprises a landing state and a non-landing state; according to a foot end state requirement of a current gait cycle in a pre-generated first gait plan and a current foot end state, a second gait plan is determined, and the first gait plan and the second gait plan comprise a plurality of gait cycles and foot end state requirements of the gait cycles; and controlling the robot to move according to the second gait plan.
本公开是关于机器人控制方法、装置、机器人及存储介质,所述方法包括:获取当前的足端状态,其中,所述足端状态包括落地状态和未落地状态;根据预先生成的第一步态规划中当前步态周期的足端状态要求,以及当前的足端状态,确定第二步态规划,其中,所述第一步态规划和所述第二步态规划包括多个步态周期,以及所述步态周期的足端状态要求;根据所述第二步态规划,控制机器人进行运动。
Robot control method and device, robot and storage medium
机器人控制方法、装置、机器人及存储介质
2023-11-17
Patent
Electronic Resource
Chinese
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