The invention belongs to the technical field of robots, and particularly relates to a robot bounce control method and device, a computer readable storage medium and a robot. The method is applied to the double-wheel-foot robot and comprises the steps that a wheel-foot spring inverted pendulum model is established; according to the wheel foot spring inverted pendulum model, state machine planning is conducted on the bouncing motion of the double-wheel foot robot, and a bouncing state machine is obtained; according to the bouncing state machine, elastic force planning is conducted on bouncing motion of the double-wheel-foot robot, and expected elastic force is obtained; and performing bounce control on the double-wheel-foot robot according to the expected elastic force. By means of the method, the wheel-foot spring inverted pendulum model of the double-wheel-foot robot can be established, state machine planning and elastic force planning are conducted on the bouncing motion according to the wheel-foot spring inverted pendulum model, the expected elastic force is obtained, therefore, the bouncing motion can be accurately controlled according to the expected elastic force, the obstacle crossing ability of the double-wheel-foot robot is improved, and high usability and practicability are achieved.
本申请属于机器人技术领域,尤其涉及一种机器人弹跳控制方法、装置、计算机可读存储介质及机器人。所述方法应用于双轮足机器人,包括:建立轮足弹簧倒立摆模型;根据所述轮足弹簧倒立摆模型对所述双轮足机器人的弹跳运动进行状态机规划,得到弹跳状态机;根据所述弹跳状态机对所述双轮足机器人的弹跳运动进行弹力规划,得到期望弹力;根据所述期望弹力对所述双轮足机器人进行弹跳控制。通过上述方法,可以建立双轮足机器人的轮足弹簧倒立摆模型,并据此对弹跳运动进行状态机规划和弹力规划,得到期望弹力,从而可以根据期望弹力对弹跳运动进行精确控制,提升了双轮足机器人的越障能力,具有较强的易用性与实用性。
Robot bounce control method and device, readable storage medium and robot
机器人弹跳控制方法、装置、可读存储介质及机器人
2023-04-28
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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