The invention discloses a buffer gait type walking method for a robot, the robot and a storage medium. The method comprises the following steps: generating an expected gait track of a foot mass point by taking a period as a unit; generating a first pole and a second pole on the gait track based on the expected moving direction; generating a touch point on the gait track; during movement, the foot mass point moves the grounding point from the first pole according to an algorithm to form a buffer section, and the foot mass point continuously moves from the grounding point to the second pole until the two poles coincide, so that the fuselage moves according to an expected step length; according to the method, the buffer section is formed, by additionally arranging the buffer section, the track and force of the robot descending to the ground contact point are smoother, the walking effect is smoother, the situation that the robot body vibrates violently is avoided, and it is guaranteed that equipment in the robot body can operate stably.

    本发明公开了一种机器人用缓冲步态式行走方法、机器人和存储介质,方法包括:以周期为单位生成脚部质点的预期步态轨迹;基于期望的移动方向在步态轨迹上生成第一极点以及第二极点;在步态轨迹上生成触地点;移动时,脚部质点根据算法从第一极点移动触地点以形成的缓冲段,脚部质点继续从触地点移动至第二极点直至重合以使得机身按照期望步长移动;通过上述方法以形成缓冲段,缓冲段的增设可以使得机器人下降至触地点的轨迹和力度都更为平缓,行走效果更为平滑,不会使得机身出现剧烈震动的情形,保证机身内部的设备能够实现稳定运行。


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    Title :

    Buffering gait type walking method for robot, robot and readable storage medium


    Additional title:

    一种机器人用缓冲步态式行走方法、机器人以及可读储存介质


    Contributors:

    Publication date :

    2024-10-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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