The invention relates to the technical field of intelligent robots, and particularly provides a quadruped robot and a control method and device thereof. The control method of the quadruped robot comprises the steps that reference torques of all joint motors of front legs are determined based on preset sole force, and all the joint motors of the front legs are controlled to rotate according to the reference torques; determining target time according to the current fuselage angle and the target angular velocity in response to the fact that the arm extension length of the front leg is not smaller than a preset threshold value; according to the current machine body angle and the target angular speed, a reference angle of a motor of a rear leg hip joint of the quadruped robot in the movement process is determined; and according to the reference angle and the actual motion angle of the rear leg hip joint motor, controlling the torque of the rear leg hip joint motor in real time until the motion time reaches the target time. In the embodiment of the invention, the quadruped robot can be switched to the double-foot supporting state through the control of the joint motors, so that more operation functions and specific actions are realized by utilizing the front legs, and the operation performance is improved.
本公开涉及智能机器人技术领域,具体提供了一种四足机器人及其控制方法、装置。一种四足机器人的控制方法,包括:基于预设足底力确定前腿的各个关节电机的参考转矩,并根据参考转矩控制前腿的各个关节电机转动;响应于前腿的臂展长度不小于预设阈值,根据当前机身角度和目标角速度确定目标时间;根据当前机身角度和目标角速度,确定四足机器人的后腿髋关节电机运动过程中的参考角度;根据后腿髋关节电机的参考角度和实际运动角度,实时控制后腿髋关节电机的转矩,直至运动时间达到目标时间。本公开实施方式中,通过关节电机控制可将四足机器人切换至双足支撑状态,从而利用前腿实现更多的操作功能和特定动作,增加操作性能。
Quadruped robot and control method and device thereof
四足机器人及其控制方法、装置
2024-01-23
Patent
Electronic Resource
Chinese