Provided is a method for controlling a legged robot, wherein the legged robot comprises a base and at least two mechanical legs, and each mechanical leg comprises at least one joint. The method for controlling a legged robot comprises: in response to the legged robot descending to contact a flat surface, determining a first expected path corresponding to the legged robot, and determining a second expected path corresponding to the legged robot, wherein the first expected path indicates an expected path of the center of mass of the legged robot, and the second expected path indicates expected paths of foot ends of the at least two mechanical legs; and controlling, on the basis of a dynamic model corresponding to the legged robot, the first expected path and the second expected path, the action of each joint after the legged robot contacts the flat surface. Further provided are an apparatus for controlling a legged robot, an electronic device, a computer-readable storage medium, a computer program product and a legged robot.


    Access

    Download


    Export, share and cite



    Title :

    METHOD AND APPARATUS FOR CONTROLLING LEGGED ROBOT, ELECTRONIC DEVICE, COMPUTER-READABLE STORAGE MEDIUM, COMPUTER PROGRAM PRODUCT AND LEGGED ROBOT


    Additional title:

    VERFAHREN UND VORRICHTUNG ZUR STEUERUNG EINES ROBOTERS MIT BEINEN, ELEKTRONISCHE VORRICHTUNG, COMPUTERLESBARES SPEICHERMEDIUM, COMPUTERPROGRAMMPRODUKT UND ROBOTER MIT BEINEN
    PROCÉDÉ ET APPAREIL DE COMMANDE DE ROBOT À JAMBES, DISPOSITIF ÉLECTRONIQUE, SUPPORT DE STOCKAGE LISIBLE PAR ORDINATEUR, PRODUIT-PROGRAMME INFORMATIQUE ET ROBOT À JAMBES


    Contributors:
    WANG SHUAI (author) / ZHENG YU (author) / CHI WANCHAO (author) / ZHANG JINGFAN (author)

    Publication date :

    2025-01-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen





    Method for controlling legged robot, robot and computer-readable storage medium

    CHEN CHUNYU / LIU YIZHANG / GE LIGANG et al. | European Patent Office | 2024

    Free access

    METHOD FOR CONTROLLING LEGGED ROBOT, ROBOT AND COMPUTER-READABLE STORAGE MEDIUM

    CHEN CHUNYU / LIU YIZHANG / GE LIGANG et al. | European Patent Office | 2023

    Free access

    ROBOT STATE ESTIMATION METHOD, COMPUTER-READABLE STORAGE MEDIUM, AND LEGGED ROBOT

    GE LIGANG / LIU YIZHANG / CHEN CHUNYU et al. | European Patent Office | 2023

    Free access