The invention provides a robot control method, a robot and a storage medium. The robot comprises a robot body, an attitude sensor arranged on the robot body, at least two mechanical legs and at least two first driving mechanisms, the mechanical legs are rotationally connected with the robot body, each mechanical leg comprises a first leg mechanism and a second leg mechanism, and the first driving mechanisms are configured to be capable of driving the second leg mechanisms to do linear motion relative to the first leg mechanisms; the driving mechanical legs can rotate relative to the machine body; the method comprises the following steps: acquiring attitude information of the robot, wherein the attitude information comprises at least one of pitch angle information and roll angle information; controlling the mechanical legs to rotate relative to the fuselage through the first driving mechanism according to the attitude information; and/or controlling the second leg mechanism to do linear motion relative to the first leg mechanism through the first driving mechanism according to the attitude information; the gravity center of the robot is changed, so that the robot keeps balanced on the supporting surface where the robot is located. The self-balancing robot aims at achieving self-balancing of the robot in the standing or advancing process.
本发明提供一种机器人的控制方法、机器人及存储介质。机器人包括机身、设置在机身上的姿态传感器、至少两个机械腿和至少两个第一驱动机构,机械腿与机身转动连接,机械腿包括第一腿部机构和第二腿部机构,第一驱动机构被配置为能够驱动第二腿部机构相对第一腿部机构做直线运动,驱动机械腿能够相对机身转动;方法包括:获取机器人的姿态信息,其包括俯仰角信息和横滚角信息中的至少一项;根据姿态信息通过第一驱动机构控制机械腿相对机身转动;和/或,根据姿态信息通过第一驱动机构控制第二腿部机构相对第一腿部机构做直线运动;以改变机器人的重心,使得机器人在机器人所在的支撑面保持平衡。本申请旨在实现机器人在站立或行进过程中的自平衡。
Robot control method, robot and storage medium
机器人的控制方法、机器人及存储介质
2024-12-03
Patent
Electronic Resource
Chinese
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