A motion control method includes: acquiring (S101) a current state parameter of a robot in response to determining that the robot is in a single-foot supporting state; and determining (S102), based on a first preset function and a preset angular momentum value, the position of the centroid of the robot relative to a swing foot at an end moment of the current single-foot supporting state according to the current state parameter of the robot, such that an angular momentum of the centroid relative to the support foot at an end moment of a next single-foot supporting state reaches the angular momentum value, and controlling (S103) the robot to walk according to the position of the centroid of the robot relative to the swing foot at the end moment of the current single-foot supporting state.
MOTION CONTROL METHOD, ROBOT AND READABLE STORAGE MEDIUM
BEWEGUNGSSTEUERUNGSVERFAHREN, ROBOTER UND LESBARES SPEICHERMEDIUM
PROCÉDÉ DE COMMANDE DE MOUVEMENT, ROBOT ET SUPPORT D'INFORMATIONS LISIBLE
29.05.2024
Patent
Elektronische Ressource
Englisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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