The invention discloses a quadruped robot gait scheduling method, device and equipment, and the method comprises the steps: responding to a scheduling request, and employing program language data to construct a plurality of input sequences corresponding to a quadruped robot; performing gait updating on an initial gait scheduling table of the quadruped robot by adopting the input sequences in sequence, and deleting initial sequence data in the initial gait scheduling table; when the update duration of the input sequence is greater than the preset duration, outputting an intermediate gait scheduling table; the foot end contact force is calculated according to the real-time state data of the quadruped robot; the intermediate gait scheduling table is updated at the operation moment in a real-time mode, and a target gait scheduling table is output; the technical problem that an existing foot type robot gait scheduling method excessively depends on a sensor, and if the sensor generates an error signal, a quadruped robot cannot continuously keep a stable state is solved.

    本发明公开了一种四足机器人步态调度方法、装置及设备,包括响应调度请求,采用程序语言数据构建四足机器人对应的多个输入序列;依次采用各输入序列对四足机器人的初始步态调度表进行步态更新,并删除初始步态调度表中的初始序列数据;当输入序列的更新持续时间大于预置持续时间时,输出中间步态调度表;采用四足机器人的实时状态数据,计算足端接触力;采用实时模式运行时刻更新中间步态调度表,输出目标步态调度表;解决了现有的足式机器人步态调度方法过于依赖于传感器,若传感器出现错误信号,会导致四足机器人无法持续保持稳定的状态的技术问题。


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    Title :

    Quadruped robot gait scheduling method, device and equipment


    Additional title:

    一种四足机器人步态调度方法、装置及设备


    Contributors:
    CHEN ZHENG (author) / WU YUANQING (author)

    Publication date :

    2024-01-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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