A method and apparatus for controlling the movement of a legged robot, and a device, a medium and a program. The method comprises: according to state data of a legged robot at a starting moment within a preset period, determining candidate landing points of foot ends within the preset period (S501); according to the state data at the starting moment and the candidate landing points of the foot ends, determining a first relational expression between a centroid position change parameter, a step duty cycle, the candidate landing points and a foot-end contact force (S502); and under the constraint of a constraint condition set, determining a target centroid position change parameter, a target step duty cycle and a target landing point that satisfy the first relational expression (S503); and according to the target centroid position change parameter, the target step duty cycle and the target landing point, controlling the legged robot to move within the preset period (S504).


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    Title :

    METHOD AND APPARATUS FOR CONTROLLING MOVEMENT OF LEGGED ROBOT, AND DEVICE, MEDIUM AND PROGRAM


    Additional title:

    VERFAHREN UND VORRICHTUNG ZUR STEUERUNG DER BEWEGUNG EINES ROBOTERS MIT BEINEN UND VORRICHTUNG, MEDIUM UND PROGRAMM
    PROCÉDÉ ET APPAREIL DE COMMANDE DU DÉPLACEMENT D'UN ROBOT MARCHEUR, DISPOSITIF, SUPPORT, ET PROGRAMME


    Contributors:
    ZHENG YU (author) / JIANG XINYANG (author) / CHI WANCHAO (author) / LING YONGGEN (author) / ZHANG SHENGHAO (author) / ZHANG ZHENGYOU (author)

    Publication date :

    2023-10-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B62D MOTOR VEHICLES , Motorfahrzeuge



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