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

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

Inactive Publication Date: 2021-05-14
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 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

[0074] 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.

[0075] 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 an expected zero moment point of the robot; acquiring a left foot position and a right foot position of the robot, and respectively calculating a left foot expected supporting force and a right foot expected supporting force of the robot according to the expected zero moment point, the left foot position and the right foot position; obtaining a left foot measurement supporting force and a right foot measurement supporting force of the robot, and respectively calculating a left leg length variation and a right leg length variation of the robot according to the left foot expected supporting force, the right foot expected supporting force, the left foot measurement supporting force and the right foot measurement supporting force; and controlling the robot to move according to the leg length variation of the left leg and the leg length variation of the right leg. By means of the robot, the robot can keep good stability even in the uneven ground environment.

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): B25J9/16
CPCB25J9/1602B62D57/024B62D57/032B25J9/1633
Inventor 葛利刚刘益彰陈春玉谢铮熊友军
Owner UBTECH ROBOTICS CORP LTD
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