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.


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    Title :

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


    Additional title:

    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


    Contributors:
    WANG SHUAI (author) / ZHENG YU (author) / ZHOU QINQIN (author) / CHI WANCHAO (author)

    Publication date :

    2025-02-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

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





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