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 of obtaining plantar force of a supporting leg when the robot moves, determining the deformation quantity of a leg elastic piece of the robot according to the plantar force, determining the knee joint compensation amount for robot mass center height compensation according to the deformation quantity, and controlling a knee joint motor of the robot according to the knee joint compensation amount. In the embodiment of the invention, the knee joint motor is subjected to compensation control through the deformation quantity of the leg elastic piece of the supporting leg of the robot, so that the control precision of the supporting leg is effectively improved, the problem of body height reduction caused by deformation of the supporting leg elastic piece in the walking process of the robot is eliminated or relieved, and the body height of the robot is kept constant; and the walking stability of the biped 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,包括获取机器人运动时支撑腿的足底力,根据足底力确定机器人的腿部弹性件的形变量,根据形变量确定针对机器人质心高度补偿的膝关节补偿量,根据膝关节补偿量对机器人的膝关节电机进行控制。本公开实施方式中,通过机器人的支撑腿的腿部弹性件的形变量,对膝关节电机进行补偿控制,有效提升支撑腿的控制精度,消除或缓解机器人行走过程中由于支撑腿弹性件形变带来的机身高度下降问题,保持机器人机身高度恒定,提高双足机器人的行走稳定性。


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    Title :

    Robot, motion control method and device thereof and storage medium


    Additional title:

    机器人及其运动控制方法、装置、存储介质


    Contributors:
    XIE YAN (author) / SHI XUANYANG (author)

    Publication date :

    2024-05-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / B62D MOTOR VEHICLES , Motorfahrzeuge



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