The invention relates to the field of quadruped robots, in particular to a quadruped robot, a gait planning method and device of the quadruped robot and a storage medium. When the quadruped robot moves, three feet of the quadruped robot are kept in a supporting state, and the method comprises the steps that swing points of the foot ends of the quadruped robot during movement are determined; determining a first motion track of the foot end of the quadruped robot according to the swing point; according to the distribution position of the gravity center of the quadruped robot, the height of the first movement track is adjusted, and the foot end track of the gait of the quadruped robot is obtained. The robot can stably move according to the adjusted first movement track, effective planning of the gait of the quadruped robot with the three feet kept in the supporting state during movement is facilitated, and the movement performance of the quadruped robot can be improved.

    本申请涉及四足机器人领域,尤其涉及四足机器人及其步态规划方法、装置及存储介质。该四足机器人在运动时保持三足处于支撑状态,该方法包括:确定四足机器人的足端在运动时的摆动点;根据摆动点确定四足机器人的足端的第一运动轨迹;根据四足机器人的重心的分布位置,调整所述第一运动轨迹的高度,得到四足机器人步态的足端轨迹。使得机器人根据所调整后的第一运动轨迹平稳运动,有利于实现对运动时三足保持支撑状态的四足机器人步态进行有效规划,有利于提升四足机器人的运动性能。


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    Title :

    Quadruped robot, gait planning method and device thereof and storage medium


    Additional title:

    四足机器人及其步态规划方法、装置及存储介质


    Contributors:
    WANG ZHEN (author) / TAN HUAN (author) / CHEN CHUNYU (author) / TAO BO (author) / LI WENZHOU (author) / YAN MENG (author) / ZHOU JIANGCHEN (author)

    Publication date :

    2024-04-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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