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 system stability

Active Publication Date: 2020-04-17
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In view of this, the embodiments of the present application provide a robot control method, device, computer-readable storage medium, and robot to solve the problem of existing robots encountering various external environmental forces or uneven ground. The problem of poor system stability

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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

[0103] In order to make the purposes, features, and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the following The described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by a person of ordinary skill in the art without creative work shall fall within the protection scope of this application.

[0104] It should be understood that when used in this specification and appended claims, the term "comprising" indicates the existence of the described features, wholes, steps, operations, elements and / or components, but does not exclude one or more other features The existence or addition of, whole, step, operation,...

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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. According to the method, foot-endstress information of the robot is obtained; a zero moment point of the mass center of a body of the robot is worked out according to the foot-end stress information; the position trajectory of the robot is updated according to the zero moment point of the mass center of the body, and then an updated position of the mass center of the body is obtained; pose information of the robot is obtained; the pose trajectory of the robot is updated according to the pose information, and then an updated pose angle is obtained; inverse kinematic analysis is performed on the updated position of the mass center of the body and the updated pose angle, and all joint angles of legs of the robot are obtained; and the robot is controlled to move according to all the joint angles, and the stability of the robot during travelling is greatly improved.

Description

Technical field [0001] This application belongs to the field of robotics, and in particular relates to a robot control method, device, computer-readable storage medium, and a robot. Background technique [0002] In the prior art, robots often adopt pure position planning gait walking methods. In the case of interference from various external environmental forces or uneven ground, the stability of the system is poor, it is difficult to walk stably, and it may even fall over. . Summary of the invention [0003] In view of this, the embodiments of the present application provide a robot control method, device, computer-readable storage medium, and robot to solve the problem that existing robots encounter interference from various external environmental forces or uneven ground. The problem of poor system stability. [0004] The first aspect of the embodiments of the present application provides a robot control method, which may include: [0005] Obtain the force information of the robo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1664B62D57/032B25J13/085B25J9/1651B25J9/1694B25J13/088
Inventor 陈春玉刘益彰葛利刚谢铮庞建新熊友军
Owner UBTECH ROBOTICS CORP LTD
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