A legged robot control method and apparatus, a medium, and a legged robot. The method comprises: acquiring motion data of a legged robot (11); determining, according to the motion data and a preset inverted pendulum model corresponding to the legged robot, a body motion trajectory and foot-landing points of the legged robot (12); and controlling the legged robot to perform lateral striding motion on the basis of the body motion trajectory, so that foot ends of the legged robot move to the foot-landing points (13). The preset inverted pendulum model corresponding to the legged robot can be obtained by using the legged robot as an inverted pendulum; and the body motion trajectory and the foot-landing points that meet a kinetic requirement of the legged robot may be generated in combination with the motion data of the legged robot and the preset inverted pendulum model, so that the actual motion of the legged robot in the lateral striding motion is matched with the body motion trajectory, and the stability of the lateral striding motion of the legged robot is improved.
LEGGED ROBOT CONTROL METHOD AND APPARATUS, MEDIUM, AND LEGGED ROBOT
VERFAHREN UND VORRICHTUNG ZUR STEUERUNG EINES ROBOTERS MIT BEINEN, MEDIUM UND ROBOTER MIT BEINEN
PROCÉDÉ ET APPAREIL DE COMMANDE DE ROBOT MARCHEUR, SUPPORT, ET ROBOT MARCHEUR
2025-06-25
Patent
Electronic Resource
English
CONTROL METHOD AND APPARATUS FOR LEGGED ROBOT, AND LEGGED ROBOT AND MEDIUM
European Patent Office | 2025
|