A biped robot control methods and a biped robot using the same as well as a computer readable storage medium are provided. The method includes: obtaining an initial distance between a centroid of a double inverted pendulum model of the biped robot and a support point of the biped robot, an initial moving speed of the centroid and an initial displacement of the centroid; calculating a measured value of a stable point of the doable inverted pendulum model based on the initial distance and the initial moving speed; calculating a control output quantity based on the initial moving speed and the measured value of the stable point; calculating a desired displacement of the centroid of the double-inverted pendulum model based on the initial moving speed, the initial displacement, and the control output quantity; and controlling the biped robot to move laterally according to the desired displacement.


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    Title :

    BIPED ROBOT CONTROL METHOD AND BIPED ROBOT USING THE SAME AND COMPUTER READABLE STORAGE MEDIUM


    Contributors:
    CHEN CHUNYU (author) / XIONG YOUJUN (author) / LIU YIZHANG (author) / LUO QIUYUE (author) / GE LIGANG (author) / BAI JIE (author) / ZHOU JIANGCHEN (author)

    Publication date :

    2022-12-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

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



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