The invention discloses a robot control method and device, equipment, a storage medium and a program product, and relates to the technical field of artificial intelligence. The method comprises the following steps: acquiring a reference state sequence of the robot, wherein reference states in the reference state sequence comprise a reference body posture and a reference motor rotation angle of the robot; acquiring a reference historical action sequence of the robot, wherein reference historical actions in the reference historical action sequence are used for correcting actions of the robot; acquiring the current state of the robot; according to the current state of the robot, the reference state sequence and the reference historical action sequence, target motor rotation angles of the m joint motors are obtained; and controlling the robot based on the target motor rotation angles of the m joint motors. According to the technical scheme provided by the embodiment of the invention, in the process of migrating the control strategy of the robot to the robot, the strategy performance of the robot is corrected by referring to the historical action, so that the control strategy of the robot can be more stably migrated to the robot.
本申请公开了一种机器人的控制方法、装置、设备、存储介质及程序产品,涉及人工智能技术领域。所述方法包括:获取机器人的参考状态序列,参考状态序列中的参考状态包括机器人的参考机身姿态和参考电机转角;获取机器人的参考历史动作序列,参考历史动作序列中的参考历史动作用于矫正机器人的动作;获取机器人的当前状态;根据机器人的当前状态、参考状态序列和参考历史动作序列,得到m个关节电机的目标电机转角;基于m个关节电机的目标电机转角控制机器人。本申请实施例提供的技术方案,在将机器人的控制策略迁移到机器人的过程中,利用参考历史动作对机器人的策略表现进行矫正,使得机器人的控制策略能够更稳定地迁移到机器人上。
Robot control method and device, equipment, storage medium and program product
机器人的控制方法、装置、设备、存储介质及程序产品
2023-10-24
Patent
Electronic Resource
Chinese
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