Method and device for determining centroid trajectory, legged robot, equipment and medium

A robot and foot technology, applied in the computer field, can solve the problems of narrow application scope and large calculation amount, and achieve the effect of wide application scope, improving accuracy and ensuring accuracy.

Active Publication Date: 2021-05-11
TENCENT TECH (SHENZHEN) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

If the number of joints of the legged robot is large, it will lead to a large amount of computation, so the above method is only applicable to the case where the number of joints of the legged robot is small, and the scope of application is narrow

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  • Method and device for determining centroid trajectory, legged robot, equipment and medium
  • Method and device for determining centroid trajectory, legged robot, equipment and medium
  • Method and device for determining centroid trajectory, legged robot, equipment and medium

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Embodiment Construction

[0119] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the following will further describe the embodiments of the present application in detail in conjunction with the accompanying drawings.

[0120] The terms "first", "second", "third", "fourth", "fifth", "sixth", "seventh", "eighth", "ninth" as used in this application etc. may be used herein to describe various concepts, but these concepts are not limited by these terms unless otherwise specified. These terms are only used to distinguish one concept from another. For example, first relational data could be termed second relational data, and, similarly, second relational data could be termed first relational data, without departing from the scope of the present application.

[0121] The terms "at least one", "multiple", "each" and "any" used in this application, at least one includes one, two or more than two, multiple includes two or more, and each A ...

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Abstract

The embodiment of the invention discloses a method and a device for determining a centroid trajectory, a legged robot, equipment and a medium, and belongs to the technical field of computers. The method comprises the steps of obtaining target state data of the legged robot at a target position, creating first relational data, determining predicted state data of the legged robot at the target position according to target moving duration and the first relational data, and creating second relational data according to a state data error between the target state data and the predicted state data; and creating a first friction force constraint condition, determining the value of a first constant lambda1 when the target value J is the minimum value under the condition of meeting the first friction force constraint condition according to the second relational data, and obtaining the first relational data corresponding to the first constant lambda1 with the determined value. Under the condition that the first friction force constraint condition is met, the feasibility of the determined centroid trajectory is guaranteed by minimizing the state data error, the accuracy of the centroid trajectory of the legged robot is improved, and an application range is wide.

Description

technical field [0001] The embodiments of the present application relate to the field of computer technology, and in particular to a method and device for determining a center-of-mass trajectory, a legged robot, equipment and media. Background technique [0002] The legged robot is equipped with multiple feet. Through the joints arranged on the multiple feet, the lifting or falling of the feet is controlled, so that the legged robot can move, so that the legged robot can simulate the walking of animals or people. When the legged robot moves, it is necessary to determine the trajectory of the center of mass of the legged robot first, so as to determine the position of the center of mass of the legged robot at each time point according to the determined trajectory of the center of mass. [0003] A method for determining the trajectory of the center of mass is provided in the related art, by detecting the state of each joint in each foot configured by the legged robot, and perf...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0251B62D57/032G05D1/0259G05D1/0223G05D1/0214G05D1/0221G05D1/0278G05D1/028G05D1/0276
Inventor 郑宇姜鑫洋迟万超凌永根张晟浩张正友
Owner TENCENT TECH (SHENZHEN) CO LTD
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