The invention relates to a motion control method and device, a controller, a medium and a robot. The motion control method comprises the following steps: acquiring gait parameters of the biped robot; inputting the gait parameters into a preset gait planning model; determining gait track parameters of the biped robot based on the gait parameters through the preset gait planning model; wherein the gait track parameters comprise a mass center state corresponding to a double-foot supporting period and a mass center state corresponding to a single-foot supporting period, and the mass center states comprise the mass center position and the mass center moving speed; and controlling the biped robot to move according to the gait track parameters. By adopting the method provided by the embodiment of the invention, the stability of the biped robot can be improved.
本公开关于一种运动控制方法、装置、控制器、介质及机器人。其中,所述运动控制方法,包括:获取双足机器人的步态参数;将所述步态参数输入至预设步态规划模型;通过所述预设步态规划模型基于所述步态参数,确定所述双足机器人的步态轨迹参数;其中,所述步态轨迹参数包括双足支撑期对应的质心状态,以及单足支撑期对应的质心状态,所述质心状态包括质心位置和质心移动速度;根据所述步态轨迹参数控制所述双足机器人运动。采用本公开实施例提供的方法,可以提高双足机器人的稳定性。
Motion control method and device, controller, medium and robot
运动控制方法、装置、控制器、介质及机器人
2024-02-23
Patent
Electronic Resource
Chinese
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