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).
LEGGED ROBOT MOVEMENT CONTROL METHOD, APPARATUS AND DEVICE, AND MEDIUM
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
2023-10-25
Patent
Electronic Resource
English
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