Provided are a method, apparatus and device for controlling the movement of a legged robot, and a medium, which relate to the technical field of robots. The method comprises: acquiring centroid state data respectively corresponding to a spatial path start point and a spatial path end point of a movement path; on the basis of the spatial path start point and the spatial path end point, determining a target landing point for each foot end in the movement path; on the basis of the centroid state data, determining a change relationship between a centroid position change coefficient and a foot end contact force; under the constraint of a constraint condition set, screening for a target centroid position change coefficient that meets the change relationship, wherein the constraint condition set comprises a spatial landing point constraint condition, and the spatial landing point constraint condition is used for constraining the value of the centroid position change coefficient, such that a legged robot can reach a determined target landing point; determining a target movement control parameter according to the target centroid position change coefficient and the target landing point of each foot end; and on the basis of the target movement control parameter, controlling the legged robot to move according to the movement path.
METHOD, APPARATUS AND DEVICE FOR CONTROLLING MOVEMENT OF LEGGED ROBOT, AND MEDIUM
VERFAHREN, VORRICHTUNG UND VORRICHTUNG ZUR STEUERUNG DER BEWEGUNG EINES ROBOTERS MIT BEINEN UND MEDIUM
PROCÉDÉ, APPAREIL ET DISPOSITIF DE COMMANDE DE DÉPLACEMENT DE ROBOT À JAMBES, ET SUPPORT
2023-10-18
Patent
Electronic Resource
English
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL |
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