In a posture control method for a legged robot, target posture data of the legged robot is acquired, where the target posture data is posture data corresponding to a target posture to which the legged robot needs to be adjusted; plantar force information of the legged robot is determined according to the target posture data, with a friction cone formed between the legged robot and a contact surface in contact with a foot of the legged robot as a constraint condition; and the constraint condition of the friction cone is introduced, the slippage of the legged robot is reduced, and the legged robot is stably controlled to be adjusted from a current posture to the target posture according to the plantar force information.


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    Titel :

    POSTURE CONTROL METHOD AND APPARATUS, ROBOT, STORAGE MEDIUM AND PROGRAM PRODUCT


    Weitere Titelangaben:

    HALTUNGSSTEUERUNGSVERFAHREN UND -VORRICHTUNG, ROBOTER, SPEICHERMEDIUM UND PROGRAMMPRODUKT
    PROCÉDÉ ET APPAREIL DE COMMANDE DE POSTURE, ROBOT, SUPPORT DE STOCKAGE ET PRODUIT DE PROGRAMME


    Beteiligte:
    XIE YAN (Autor:in)

    Erscheinungsdatum :

    03.01.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

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



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