The invention relates to the technical field of robots, and discloses a biped robot balancing method and device based on a flywheel, electronic equipment and a storage medium, the method comprises the following steps: when it is monitored that a single foot of a biped robot stands, carrying out roll detection on the biped robot to obtain a roll angle; calculating the robot angular momentum of the biped robot according to the roll angle; calculating flywheel angular momentum required by a flywheel of the biped robot according to the robot angular momentum; according to the flywheel angular momentum, the rotating speed and the rotating direction of a flywheel of the biped robot are determined; and controlling the flywheel to rotate according to the rotating speed and the rotating direction. The stability and balance capacity of the biped robot in the movement process can be improved.
本发明涉及机器人技术领域,揭露一种基于飞轮的双足机器人平衡方法、装置、电子设备及存储介质,所述方法包括:监测到双足机器人单足站立时,对所述双足机器人进行侧倾检测,得到侧倾角度;根据所述侧倾角度,计算所述双足机器人的机器人角动量;根据所述机器人角动量,计算所述双足机器人的飞轮所需的飞轮角动量;根据所述飞轮角动量,确定所述双足机器人的飞轮的转速及转动方向;控制所述飞轮按照所述转速及所述转动方向进行转动。本发明能够提高双足机器人在运动过程中的稳定性及平衡能力。
Biped robot balancing method, device and equipment based on flywheel and medium
基于飞轮的双足机器人平衡方法、装置、设备及介质
2024-03-12
Patent
Electronic Resource
Chinese
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