A jumping motion control method for a biped robot includes: before feet of the biped robot leaves a support surface, estimating a motion trajectory of the biped robot that leaves the support surface according to a period of time when the biped robot stays or flips in the air; calculating a first motion angle of each joint of legs of the biped robot according to the motion trajectory and inverse kinematics; determining a constraint condition according to a motion type to which an action to be performed by the biped robot corresponds; optimizing the first motion angles according to the constraint condition to obtain a second motion angle of each joint of legs of the biped robot; and controlling a jumping motion of the biped robot according to the second motion angles.


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    Title :

    JUMPING MOTION CONTROL METHOD FOR BIPED ROBOT, BIPED ROBOT AND COMPUTER-READABLE STORAGE MEDIUM


    Contributors:
    CHEN CHUNYU (author) / GE LIGANG (author) / LIU YIZHANG (author) / ZHOU JIANGCHEN (author) / LUO QIUHUE (author) / XIONG YOUJUN (author)

    Publication date :

    2023-06-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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