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 present invention relates to a method for controlling a legged robot, the legged robot comprising a base and at least two mechanical legs, each mechanical leg comprising at least one joint, the method comprising: in response to determining that the legged robot falls into contact with a plane, determining a first desired trajectory and a second desired trajectory corresponding to the legged robot, the first desired trajectory indicating a desired trajectory of a centroid of the legged robot; the second expected track indicates an expected track of one end, far away from the base, of each mechanical leg; and based on a kinetic model corresponding to the foot type robot, the first expected track and the second expected track, controlling the action of each joint after the foot type robot is in contact with the plane. According to the embodiment of the invention, a good anti-impact protection effect is formed on the foot type robot while the landing function is ensured.
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,方法包括:响应于确定足式机器人下落至与平面接触,确定足式机器人对应的第一期望轨迹和第二期望轨迹,其中,第一期望轨迹指示足式机器人的质心的期望轨迹;第二期望轨迹指示各条机械腿远离基座的一端的期望轨迹;基于足式机器人对应的动力学模型以及第一期望轨迹和第二期望轨迹,控制足式机器人与平面接触后各个关节的动作。本公开的实施例在保证落地功能的同时对足式机器人形成了良好的抗冲击保护效果。
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
2023-11-03
Patent
Electronic Resource
Chinese
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