A legged robot movement control method, apparatus and device, and a medium, relating to the technical field of robots. The control method comprises: obtaining center of mass state data corresponding to a spatial path starting point and a spatial path end point of a movement path (S501); determining candidate footholds of foot ends in the movement path on the basis of the spatial path starting point and the spatial path end point (S502); determining, on the basis of the center of mass state data, a variation relationship between a center of mass position variation coefficient and a foot end contact force (S503); screening, under the constraint of a constraint condition set, a target center of mass position variation coefficient and a target foothold that satisfy the variation relationship (S504), wherein the constraint condition set comprises a spatial foothold constraint condition; determining a target movement control parameter according to the target center of mass position variation coefficient and the target foothold (S505); and controlling, on the basis of the target movement control parameter, the legged robot to move according to the movement path (S506).


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    Title :

    LEGGED ROBOT MOVEMENT CONTROL METHOD, APPARATUS AND DEVICE, AND MEDIUM


    Additional title:

    BEWEGUNGSSTEUERUNGSVERFAHREN, -VORRICHTUNG UND -VORRICHTUNG FÜR EINEN ROBOTER MIT BEINEN UND MEDIUM
    PROCÉDÉ, APPAREIL ET DISPOSITIF DE COMMANDE DE MOUVEMENT DE ROBOT À JAMBES, ET SUPPORT


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

    Publication date :

    2023-10-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / B62D MOTOR VEHICLES , Motorfahrzeuge



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