The invention relates to the technical field of humanoid robots, and particularly provides a robot, a motion control method and device thereof and a storage medium. The robot motion control method comprises the steps that expected motion information corresponding to at least one active joint is determined according to actual state information and target state information of a robot, and target torque corresponding to the active joint is determined according to the corresponding expected motion information for the active joint; and joint motors of the active joints are controlled to work according to the target torque. According to the embodiment of the invention, an off-line track library does not need to be established in advance, online control is adopted, the algorithm cost is lower, the control algorithm is simple, the calculated amount is small, the requirement for computing power is not high, more computing power can be saved and distributed to upper limbs or other controls, and the control effect of the robot is improved.
本公开涉及仿人机器人技术领域,具体提供了一种机器人及其运动控制方法、装置、存储介质。一种机器人运动控制方法,包括根据机器人的实际状态信息和目标状态信息,确定至少一个主动关节对应的期望运动信息,对于至少一个主动关节,根据对应的期望运动信息确定主动关节对应的目标力矩,根据目标力矩控制主动关节的关节电机工作。本公开实施方式中,无需预先建立离线轨迹库,均为在线控制,算法成本更低,而且控制算法简单,计算量较小,对算力需求不高,可以节省更多的算力分配给上肢或其他控制,提高机器人控制效果。
Robot, motion control method and device thereof and storage medium
机器人及其运动控制方法、装置、存储介质
2024-05-14
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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