The invention belongs to the technical field of robots, and particularly relates to a robot control method and device, a computer readable storage medium and a robot. The method comprises the steps that in the process that a robot carries a load, foot trajectory planning is conducted on the robot, and a foot trajectory planning result of the robot is obtained; determining a zero moment point reference trajectory of the robot according to the foot trajectory planning result; determining an equivalent centroid trajectory according to the zero moment point reference trajectory; wherein the equivalent center of mass is the center of mass which takes the robot and the load as a whole; the mass center track of the robot is determined according to the equivalent mass center track; inverse kinematics solution is conducted according to the mass center track of the robot, and the leg joint poses of the robot are obtained; and controlling the robot to move according to the leg joint poses of the robot. According to the method, the influence generated by the load is fully considered, and the walking stability of the robot is effectively improved.

    本申请属于机器人技术领域,尤其涉及一种机器人控制方法、装置、计算机可读存储介质及机器人。所述方法包括:在机器人搬运负载的过程中,对所述机器人进行足部轨迹规划,得到所述机器人的足部轨迹规划结果;根据所述足部轨迹规划结果确定所述机器人的零力矩点参考轨迹;根据所述零力矩点参考轨迹确定等效质心轨迹;其中,所述等效质心为将所述机器人和所述负载作为一个整体的质心;根据所述等效质心轨迹确定所述机器人的质心轨迹;根据所述机器人的质心轨迹进行逆运动学求解,得到所述机器人的腿部关节位姿;根据所述机器人的腿部关节位姿控制所述机器人进行运动。通过本申请,充分考虑了负载产生的影响,有效提高了机器人行走的稳定性。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Robot control method and device, computer readable storage medium and robot


    Weitere Titelangaben:

    机器人控制方法、装置、计算机可读存储介质及机器人


    Beteiligte:
    XIE SHENGWEN (Autor:in) / GE LIGANG (Autor:in)

    Erscheinungsdatum :

    28.02.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / B62D MOTOR VEHICLES , Motorfahrzeuge



    Robot control method, computer-readable storage medium and robot

    CHEN CHUNYU / LIU YIZHANG / GE LIGANG et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    ROBOT CONTROL METHOD, ROBOT AND COMPUTER-READABLE STORAGE MEDIUM

    TAO BO / CHEN CHUNYU | Europäisches Patentamt | 2024

    Freier Zugriff

    ROBOT CONTROL METHOD, ROBOT AND COMPUTER-READABLE STORAGE MEDIUM

    CHEN CHUNYU / GE LIGANG / LIU YIZHANG et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Robot control method, robot and computer readable storage medium

    LU YING / WU QIANG | Europäisches Patentamt | 2024

    Freier Zugriff

    ROBOT CONTROL METHOD, COMPUTER-READABLE STORAGE MEDIUM AND ROBOT

    CHEN CHUNYU / LIU YIZHANG / GE LIGANG et al. | Europäisches Patentamt | 2021

    Freier Zugriff