Robot control method and device, computer readable storage medium and robot

A control method and robot technology, applied in the field of robots, can solve problems such as poor robot stability

Pending Publication Date: 2021-04-30
UBTECH ROBOTICS CORP LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In view of this, the embodiment of the present application provides a robot control method, device, computer-readable storage medium and robot, so as to solve the problem of poor stability of the robot in the uneven ground environment

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  • Robot control method and device, computer readable storage medium and robot
  • Robot control method and device, computer readable storage medium and robot
  • Robot control method and device, computer readable storage medium and robot

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Embodiment Construction

[0058] In order to make the purpose, features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the following The described embodiments are only some of the embodiments of the present application, but not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0059] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude one or more other features. , whole, step, operation, element, component and / or the presence or...

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Abstract

The invention belongs to the technical field of robots, and particularly relates to a robot control method and device, a computer readable storage medium and a robot. The method comprises the following steps of: determining a planned capture point and a measured capture point of a robot, and calculating a capture point error of the robot; acquiring a left foot position, a right foot position and a planned zero moment point of the robot, and respectively calculating an expected left foot supporting force and an expected right foot supporting force of the robot; according to the capture point error, the expected left foot supporting force and the expected right foot supporting force, calculating the expected left foot torque and the expected right foot torque of the robot respectively; acquiring a measured left foot moment and a measured right foot moment of the robot, and respectively calculating an expected left foot posture and an expected right foot posture of the robot; and controlling the robot to move according to the expected left foot posture and the expected right foot posture. According to the invention, the two feet of the robot can quickly adapt to the uneven ground, and good stability can be kept.

Description

technical field [0001] The present application belongs to the technical field of robots, and in particular relates to a robot control method, a device, a computer-readable storage medium and a robot. Background technique [0002] The stability of biped robot walking has always been a challenging research topic. In the prior art, various robot control methods have been able to realize the stable walking of the robot on the flat ground. However, when faced with the uneven ground environment, the stability of the robot is poor, it is difficult to walk stably, and it may even There is a dump. Contents of the invention [0003] In view of this, embodiments of the present application provide a robot control method, device, computer-readable storage medium, and robot, so as to solve the problem of poor stability of the robot in an uneven ground environment. [0004] The first aspect of the embodiments of the present application provides a robot control method, which may include...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCG05D1/0891B62D57/032G05B2219/40264B25J9/1664B25J9/1602B25J9/1633B62D57/02
Inventor 葛利刚刘益彰陈春玉谢铮熊友军
Owner UBTECH ROBOTICS CORP LTD
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