Embodiments of this application provide a method, an apparatus, and a device for controlling a legged robot, a legged robot, a computer-readable storage medium, and a computer program product. The legged robot includes a base and at least two robotic legs. Each of the robotic legs includes at least one joint. The method includes: determining a first expected moving trajectory and a second expected moving trajectory corresponding to the legged robot in response to determining that each robotic leg of the legged robot falls to contact a plane, the first expected moving trajectory indicating an expected moving trajectory of a center of mass of the legged robot moving in a direction of gravity and an expected moving trajectory of a change in a tilt angle of the legged robot, and the second expected moving trajectory indicating an expected moving trajectory of a foot end of each robotic leg; and controlling, based on a dynamic model corresponding to the legged robot, the first expected moving trajectory, and the second expected moving trajectory, an action of each joint after the legged robot contacts the plane.
METHOD, APPARATUS AND DEVICE FOR CONTROLLING LEGGED ROBOT, LEGGED ROBOT, COMPUTER-READABLE STORAGE MEDIUM AND COMPUTER PROGRAM PRODUCT
VERFAHREN, VORRICHTUNG UND VORRICHTUNG ZUR STEUERUNG EINES ROBOTERS MIT BEINEN, ROBOTER MIT BEINEN, COMPUTERLESBARES SPEICHERMEDIUM UND COMPUTERPROGRAMMPRODUKT
PROCÉDÉ, APPAREIL ET DISPOSITIF DE COMMANDE DE ROBOT À JAMBES, ROBOT À JAMBES, SUPPORT DE STOCKAGE LISIBLE PAR ORDINATEUR ET PRODUIT-PROGRAMME INFORMATIQUE
2025-02-26
Patent
Electronic Resource
English
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