The present disclosure provides a legged robot continuous hopping control method as well as a legged robot and a computer readable storage medium using the same. The method includes: dividing each of the phases into a desired entry stage, an actual entry stage, a during stage, and an exit and state transiting stage; detecting a transiting between the stages of the acceleration phase, the flight phase, and the deceleration phase to obtain a corresponding state detecting result; updating state information of the robot based on the state detecting result; and controlling the robot to continuously hop by transiting between the stages of the acceleration phase, the flight phase, and the deceleration phase according to the updated state information. In this manner, the stability of the continuous hopping of the legged robot can be greatly improved.


    Access

    Download


    Export, share and cite



    Title :

    LEGGED ROBOT CONTINUOUS HOPPING CONTROL METHOD AND LEGGED ROBOT AND COMPUTER READABLE STORAGE MEDIUM USING THE SAME


    Contributors:
    WANG YUESONG (author) / DONG HAO (author) / YANG GUOPING (author) / ZHAO MINGGUO (author) / XIONG YOUJUN (author)

    Publication date :

    2021-07-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    ROBOT CONTROL METHOD, LEGGED ROBOT USING THE SAME, AND COMPUTER-READABLE STORAGE MEDIUM

    HU YISEN / DONG HAO / DING HONGYU 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 | 2024

    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