A legged robot motion control method, apparatus, and device, and a storage medium. The method includes: acquiring center of mass state data corresponding to a spatial path starting point and spatial path ending point of a motion path; determining a candidate foothold of each foot in the motion path based on the spatial path starting point and the spatial path ending point; determining a variation relationship between a center of mass position variation coefficient and a foot contact force based on the center of mass state data; screening out, under restrictions of a constraint set, a target center of mass position variation coefficient and target foothold that satisfy the variation relationship; determining a target motion control parameter according to the target center of mass position variation coefficient and the target foothold; and controlling a legged robot based on the target motion control parameter to move according to the motion path.


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    Title :

    LEGGED ROBOT MOTION CONTROL METHOD, APPARATUS, AND DEVICE, AND STORAGE MEDIUM


    Contributors:
    ZHENG YU (author) / JIANG XINYANG (author) / CHI WANCHAO (author) / ZHANG ZHENGYOU (author)

    Publication date :

    2023-01-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

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



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