Control method and device for robot, computer equipment and storage medium
A control method and robot technology, applied in the computer field, can solve the problems of limited movement and inconvenient control of robots.
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Embodiment 1
[0031] The method embodiment provided in Embodiment 1 of the present application may be executed in a mobile terminal, a server, a computer terminal or a similar computing device. Take running on a computer terminal as an example, figure 1 It is a block diagram of the hardware structure of a robot control method applied to a computer terminal in an embodiment of the present invention. Such as figure 1 As shown, the computer terminal may include one or more ( figure 1Only one is shown in the figure) a processor 102 (the processor 102 may include but not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data. Optionally, the above-mentioned computer terminal also A transmission device 106 for communication functions as well as input and output devices 108 may be included. Those of ordinary skill in the art can understand that, figure 1 The shown structure is only for illustration, and does not limit ...
Embodiment 2
[0086] In this embodiment, a robot control device is also provided, which is used to implement the above embodiments and preferred implementation modes, and those that have been described will not be repeated. As used below, the term "module" may be a combination of software and / or hardware that realizes a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementations in hardware, or a combination of software and hardware are also possible and contemplated.
[0087] Figure 4 is a structural block diagram of a robot control device according to an embodiment of the present invention, such as Figure 4 As shown, the device includes: an acquisition module 402, used to acquire the joint position information of the control object when the control object exhibits a behavior, and to identify the facial features of the control object; the first calculation module 404, connected to the above acquisition modul...
Embodiment 3
[0096] An embodiment of the present invention also provides a storage medium, in which a computer program is stored, wherein the computer program is set to execute the steps in any one of the above method embodiments when running.
[0097] Optionally, in this embodiment, the above-mentioned storage medium may be configured to store a computer program for performing the following steps:
[0098] S1, when the controlled object exhibits a behavior action, acquire the joint position information of the controlled object, and identify the facial features of the controlled object;
[0099] S2, calculating the control torque of the robot according to the joint positions and the facial features;
[0100] S3. Calculate a control parameter of the robot according to the control torque, where the control parameter is used to control the robot to imitate the behavior.
[0101] Optionally, in this embodiment, the above-mentioned storage medium may include but not limited to: U disk, read-on...
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