In a posture control method for a legged robot, target posture data of the legged robot is acquired where the target posture data is posture data corresponding to a target posture to which the legged robot needs to be adjusted; plantar force information of the legged robot is determined according to the target posture data, with a friction cone formed between the legged robot and a contact surface in contact with a foot of the legged robot as a constraint condition; and the constraint condition of the friction cone is introduced, the slippage of the legged robot is reduced, and the legged robot is stably controlled to be adjusted from a current posture to the target posture according to the plantar force information.


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    Title :

    POSTURE CONTROL METHOD AND APPARATUS, ROBOT, STORAGE MEDIUM AND PROGRAM PRODUCT


    Additional title:

    HALTUNGSSTEUERUNGSVERFAHREN UND -VORRICHTUNG, ROBOTER, SPEICHERMEDIUM UND PROGRAMMPRODUKT
    PROCÉDÉ ET APPAREIL DE COMMANDE DE POSTURE, ROBOT, SUPPORT DE STOCKAGE ET PRODUIT DE PROGRAMME


    Contributors:
    XIE YAN (author)

    Publication date :

    2024-01-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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