A computing device creates first relation data indicating a relation between an interval duration and a center of mass position of a legged robot. The first relation data comprises a first constant, C. The computing device creates second relation data corresponding to at least one leg of for the legged robot and a force corresponding to the at last one leg with the ground. The second relation data comprises the first constant, C. The computing device creates third relation data according to the second relation data. The device determines a value of the first constant, C, when a target value J is a minimum value, and obtains the first relation data according to the determined value of the first constant, C.
BARYCENTER POSITION DETERMINING METHOD AND APPARATUS, LEGGED ROBOT, AND STORAGE MEDIUM
01.09.2022
Patent
Elektronische Ressource
Englisch
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