The embodiment of the invention provides a method and device for controlling a foot type robot, the foot type robot, equipment for controlling the foot type robot and a non-volatile computer readable storage medium. The foot type robot comprises a base and at least two mechanical legs, each mechanical leg comprises at least one joint, and the method comprises the steps that in response to the fact that it is determined that part of the mechanical legs of the foot type robot fall to make contact with a plane, a first expected track and a second expected track corresponding to the foot type robot are determined, the first expected trajectory indicates the expected trajectory of the mass center of the foot type robot moving in the gravity direction and the horizontal direction and the expected trajectory of the change of the inclination angle of the foot type robot, and the second expected trajectory indicates the expected trajectory of the end, away from the base, of each mechanical leg; and on the basis of a kinetic model corresponding to the foot type robot, the first expected trajectory and the second expected trajectory, controlling the action of each joint of the foot type robot.
本公开的实施例提供一种控制足式机器人的方法、装置、一种足式机器人,一种控制足式机器人的设备、以及一种非易失性计算机可读存储介质。足式机器人包括基座和至少两条机械腿,每条机械腿包括至少一个关节,该方法包括:响应于确定所述足式机器人的部分机械腿下落至与平面接触,确定所述足式机器人对应的第一期望轨迹和第二期望轨迹,其中,所述第一期望轨迹指示所述足式机器人的质心在重力方向和水平方向上移动的期望轨迹以及所述足式机器人的倾斜角的变化的期望轨迹,所述第二期望轨迹指示各条机械腿远离所述基座的一端的期望轨迹;以及基于足式机器人对应的动力学模型以及所述第一期望轨迹和第二期望轨迹,控制足式机器人的各个关节的动作。
Method and device for controlling foot type robot and foot type robot
控制足式机器人的方法和装置及足式机器人
2023-10-27
Patent
Electronic Resource
Chinese
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