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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 system stability, and achieve the effects of improving stability, improving performance, and stabilizing walking

Active Publication Date: 2021-06-18
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 to solve the problem of existing biped 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

[0093] 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.

[0094] 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: acquiring left foot stress information and right foot stress information of the robot; calculating a zero moment point of the body mass center of the robot according to the left foot stress information and the right foot stress information; updating the motion track of the robot according to the zero moment point of the body mass center; conducting inverse kinematics analysis on the updated body mass center position to obtain all joint angles of the left leg and the right leg of the robot; and controlling the robot to move according to each joint angle. Through the embodiment of the invention, the moving joint angles can be adjusted in real time according to the stress information of the robot, the stability of the robot in the walking process can be improved, the robot can still walk stably even under the condition of interference of various external environment forces or uneven ground, and the performance ability of the robot is greatly improved.

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] In the prior art, biped robots often use the gait walking method of pure position planning. When encountering various external environmental force interference or uneven ground, the system stability 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, the embodiment of the present application provides a robot control method, device, computer-readable storage medium, and robot to solve the problem of existing biped robots encountering various external environmental forces or uneven ground. Next, 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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/00B25J13/08
CPCB25J9/1664B25J9/161B25J13/08B25J13/085B25J13/00B62D57/032B25J9/1651B25J9/1694B25J13/088
Inventor 陈春玉刘益彰葛利刚谢铮王鸿舸熊友军庞建新
Owner UBTECH ROBOTICS CORP LTD
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