A robot balance control method, a controller, and a computer readable storage medium are provided. The method includes: obtaining a desired motion trajectory matching a current motion status by performing a parameter adaptation adjustment on a current planned motion trajectory; determining, according to the motion status, a desired state parameter of each of soles, a centroid, and a waist of a humanoid robot for conforming to the desired motion trajectory; calculating, based on the motion status and the desired state parameter of each of the soles, the centroid, and the waist of the humanoid robot, a desired driving parameter of the humanoid robot for simultaneously meeting a robot dynamics requirement, a sole control requirement, a centroid control requirement, a waist control requirement, and force control parameter distribution constraint(s) at the current moment; and controlling, based on the desired driving parameter, a movement of the humanoid robot.


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    Title :

    Robot balance control method, robot controller and computer readable storage medium


    Contributors:
    XIE YAN (author) / XIONG YOUJUN (author)

    Publication date :

    2024-11-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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