Robot control method and device and robot

Abstract

The invention relates to a robot control method and device and a robot. The method comprises the steps that in a man-machine interaction scene, a first foot end of a first limb and a second foot end of a second limb of the robot are controlled to reach corresponding supporting positions respectively; a first limb and a second limb of the robot are controlled to execute a half-lying action until a second joint of the second limb and a second foot end fall to the ground, a first joint of the first limb falls to the ground, and a first structural part of the first limb is perpendicular to the ground at a side view angle; wherein the landing point of the second foot end is the supporting position corresponding to the second foot end, and the landing point of the first joint is under a third joint rotating shaft of the first limb when the robot is in a half-lying state; and the output torque of the joint motor of each joint of the robot is reduced to control the robot to keep a semi-lying state. The method can be applied to a long-time man-machine interaction scene.

Description

[0001] This application is a divisional application for the patent application with application number 202411102946.9, invention name “Robot control method, device and robot”, and application date August 13, 2024. Technical Field

[0002] The present application relates to the field of robotics technology, and in particular to a robot control method, device and robot. Background Art

[0003] With the continuous development of robot technology, robots are becoming more and more intelligent and automated, and the richness, stability and flexibility of their actions have been improved to varying degrees. Robots can replace users in their production and life to perform specific tasks, thus bringing convenience to users.

[0004] In traditional technology, the lying posture of a quadruped robot is to fold its limbs, put its belly on the ground, and support its body with the bottom of its belly to achieve a low-power standby state. Although this method is simple enough and can achieve the most stable standby state, it is not suitable for long-term human-computer interaction scenarios. Summary of the invention

[0005] Based on this, it is necessary to provide a robot control method, device, robot, computer-readable storage medium and computer program product that can be suitable for long-term human-computer interaction scenarios in response to the above-mentioned technical problems.

[0006] In a first aspect, the present application provides a robot control method. The method comprises:

[0007] In a human-machine interaction scenario, controlling the first foot end of the first limb and the second foot end of the second limb of the robot to reach corresponding support positions respectively;

[0008] Control the first limb and the second limb of the robot to perform a half-prone action until the second joint and the second foot of the second limb are both on the ground, and the first joint of the first limb is on the ground and the first structure of the first limb is perpendicular to the ground when viewed from the side; wherein the landing point of the second foot is the support position corresponding to the second foot, and the landing point of the first joint is directly below the third joint rotation axis of the first limb of the robot in the half-prone state;

[0009] Reduce the output torque of the joint motors of each joint of the robot to control the robot to maintain a semi-lying state.

[0010] In one embodiment, controlling the first limb and the second limb of the robot to perform a half-prone action until the second joint and the second foot end of the second limb are both on the ground, and the first joint of the first limb is on the ground and the first structure of the first limb is perpendicular to the ground at a side view angle includes:

[0011] Determining target angles of joints of the first limb according to the length of the third joint of the first limb of the robot, the length of the first structural member of the first limb, the body length of the robot, and the preset angle;

[0012] Determine target angles of joints of the second limb according to the length of the fourth joint of the second limb of the robot, the length of the second structural member of the second limb, the body length of the robot, the preset angle, and the structural limit of the fourth structural member of the second limb;

[0013] According to the target angles of the joints of the first limb and the target angles of the joints of the second limb, the first limb and the second limb of the robot are controlled to perform a half-prone action. When the target angles of the joints of the first limb and the target angles of the joints of the second limb are reached, it is determined that the second joint and the second foot end of the second limb are both on the ground, and the first joint of the first limb is on the ground and the first structural component of the first limb is perpendicular to the ground when viewed from the side.

[0014] In one embodiment, determining the target angle of each joint of the first limb according to the length of the third joint of the first limb of the robot, the length of the first structural member of the first limb, the body length of the robot, and the preset angle includes:

[0015] determining a target angle of the third joint of the first limb of the robot based on a length of the third joint of the first limb and a length of the first structural member of the first limb;

[0016] Determining a target angle of the first structural member according to a body length of the robot and a length of the first structural member;

[0017] The target angle of the third structure of the first limb is determined according to the target angle of the first structure and the preset angle.

[0018] In one embodiment, determining the target angle of each joint of the second limb according to the length of the fourth joint of the second limb of the robot, the length of the second structural member of the second limb, the body length of the robot, the preset angle, and the structural limit of the fourth structural member of the second limb includes:

[0019] Determining a target angle of the fourth joint of the second limb of the robot according to the length of the fourth joint of the second limb, the length of the second structural member of the second limb, and the structural limit of the fourth structural member of the second limb;

[0020] determining a target angle of the second structural member of the second limb according to a length of the second structural member of the second limb, a body length of the robot, and a preset angle;

[0021] The structural limit of the fourth structural member is determined as the target angle of the fourth structural member.

[0022] In one embodiment, according to the target angles of the joints of the first limb and the target angles of the joints of the second limb, controlling the first limb and the second limb of the robot to perform a half-prone action includes:

[0023] Determine the reference angle of each joint of the first limb at each moment according to the angle of each joint of the first limb at each moment when the robot performs the half-crouching action, the expected duration of the half-crouching action, and the target angle of each joint of the first limb;

[0024] Determine the reference angle of each joint of the second limb at each moment according to the angle of each joint of the second limb at each moment when the robot performs the half-crouching action, the expected duration of the half-crouching action, and the target angle of each joint of the second limb;

[0025] According to the reference angles of the joints of the first limb at each moment and the reference angles of the joints of the second limb at each moment, the first limb and the second limb of the robot are controlled to perform a half-prone action.

[0026] In one embodiment, according to the target angles of the joints of the first limb and the target angles of the joints of the second limb, controlling the first limb and the second limb of the robot to perform a half-prone action includes:

[0027] Determine, by a linear interpolation method or a Bezier curve method, the reference angles of the joints of the first limb at each moment when the robot performs a half-prone action according to the target angles of the joints of the first limb, and determine, by a linear interpolation method or a Bezier curve method, the reference angles of the joints of the second limb at each moment when the robot performs a half-prone action according to the target angles of the joints of the second limb;

[0028] According to the reference angles of the joints of the first limb and the second limb at each moment, the first limb and the second limb of the robot are controlled to perform a half-prone action.

[0029] In one embodiment, controlling the first foot end of the first limb and the second foot end of the second limb of the robot to reach corresponding support positions respectively includes:

[0030] Controlling the first foot end of the first limb of the robot to reach directly below the third joint rotation axis of the first limb before performing the half-prone action;

[0031] Determining a support position of a second foot end of the second limb according to a length of a second structural member of the second limb of the robot, a length of a fourth structural member, and a body length of the robot;

[0032] Control the second foot end of the second limb of the robot to reach the supporting position of the second foot end.

[0033] In one embodiment, reducing the output torque of the joint motors of each joint of the robot includes:

[0034] reducing the position gain and velocity gain of the third joint and the fifth joint of the first limb of the robot;

[0035] Reduce the position gains and velocity gains of joints other than the third and fifth joints to zero.

[0036] In a second aspect, the present application also provides a robot control device. The device comprises:

[0037] A foot end adjustment module is used to control the first foot end of the first limb and the second foot end of the second limb of the robot to reach corresponding support positions respectively in a human-machine interaction scenario;

[0038] A half-prone control module is used to control the first limb and the second limb of the robot to perform a half-prone action until the second joint and the second foot of the second limb are both on the ground, and the first joint of the first limb is on the ground and the first structure of the first limb is perpendicular to the ground when viewed from the side; wherein the landing point of the second foot is the support position corresponding to the second foot, and the landing point of the first joint is directly below the third joint rotation axis of the first limb of the robot in the half-prone state;

[0039] The torque adjustment module is used to reduce the output torque of the joint motors of each joint of the robot to control the robot to maintain a semi-lying state.

[0040] In a third aspect, the present application further provides a robot. The robot includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0041] In a human-machine interaction scenario, controlling the first foot end of the first limb and the second foot end of the second limb of the robot to reach corresponding support positions respectively;

[0042] Control the first limb and the second limb of the robot to perform a half-prone action until the second joint and the second foot of the second limb are both on the ground, and the first joint of the first limb is on the ground and the first structure of the first limb is perpendicular to the ground when viewed from the side; wherein the landing point of the second foot is the support position corresponding to the second foot, and the landing point of the first joint is directly below the third joint rotation axis of the first limb of the robot in the half-prone state;

[0043] Reduce the output torque of the joint motors of each joint of the robot to control the robot to maintain a semi-lying state.

[0044] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0045] In a human-machine interaction scenario, controlling the first foot end of the first limb and the second foot end of the second limb of the robot to reach corresponding support positions respectively;

[0046] Control the first limb and the second limb of the robot to perform a half-prone action until the second joint and the second foot of the second limb are both on the ground, and the first joint of the first limb is on the ground and the first structure of the first limb is perpendicular to the ground when viewed from the side; wherein the landing point of the second foot is the support position corresponding to the second foot, and the landing point of the first joint is directly below the third joint rotation axis of the first limb of the robot in the half-prone state;

[0047] Reduce the output torque of the joint motors of each joint of the robot to control the robot to maintain a semi-lying state.

[0048] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0049] In a human-machine interaction scenario, controlling the first foot end of the first limb and the second foot end of the second limb of the robot to reach corresponding support positions respectively;

[0050] Control the first limb and the second limb of the robot to perform a half-prone action until the second joint and the second foot of the second limb are both on the ground, and the first joint of the first limb is on the ground and the first structure of the first limb is perpendicular to the ground when viewed from the side; wherein the landing point of the second foot is the support position corresponding to the second foot, and the landing point of the first joint is directly below the third joint rotation axis of the first limb of the robot in the half-prone state;

[0051] Reduce the output torque of the joint motors of each joint of the robot to control the robot to maintain a semi-lying state.

[0052] The robot control method, device, robot, storage medium and computer program product, in the human-machine interaction scenario, adjusts the first foot end to the corresponding support position in advance, so that after the first limb lies down, the landing point of the first joint is directly below the third joint rotation axis of the first limb in the semi-lying state, and the equivalent arm of the hip joint is almost zero. By adjusting the second foot end to the support position corresponding to the second foot end in advance, after the second limb completely lies down, the second foot end falls on the support position corresponding to the second foot end, and the second foot end does not need to slide. The robot controls the second joint and the second foot end of the second limb to land, that is, the second limb lies down completely, and the support position is mainly the appearance structure of the hip joint of the second limb. Therefore, the motors of each joint of the second limb do not need to output. At the same time, the first joint of the first limb is controlled to land and the first structure of the first limb is perpendicular to the ground at a side view angle. The first limb is mainly supported by the first structure itself. The first structure of the first limb is perpendicular to the ground at a side view angle. It is also not necessary to output power to support the gravity of the fuselage. The lower leg of the first limb is suspended in the air, and the elbow joint does not need to output power. Therefore, the joint motors of the entire robot do not need to output torque to support the body's gravity. It only needs the first structural member of the first limb to remain perpendicular to the ground at a side-view angle. When the first structural member does not tilt forward or backward, the output torque of each joint motor of the robot is zero. Therefore, the robot can reduce the output torque of the joint motor to zero, does not need to output torque, and does not need to consume electrical energy. The robot can be controlled to maintain a semi-prone state for a long time, achieving low power consumption. In addition, the second limb of the robot is completely prone, and the rear half of the fuselage is relatively low. The first limb is supported by the first structural member and the first joint, and the front half of the fuselage is relatively high. The front view of the robot is upward, and the camera can capture the face of the user who is relatively high relative to the robot at a close position, achieving a high viewing angle, thereby solving the problem of requiring both low power consumption and high viewing angle in long-term human-computer interaction scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] FIG1 is a diagram showing an application environment of a robot control method according to an embodiment;

[0054] FIG2 is a schematic flow chart of a robot control method in one embodiment;

[0055] FIG3 is a front view of the robot in a normal standing state according to one embodiment;

[0056] FIG4 is a side view of an embodiment of the robot when the second joint and the second foot of the second limb are both on the ground, and the first joint of the first limb is on the ground and the first structure of the first limb is perpendicular to the ground;

[0057] FIG5 is a side view of a robot lying completely prone in one embodiment;

[0058] FIG6 is a front view of a first limb of the robot in a half-lying target state according to an embodiment;

[0059] 7 is a schematic diagram of a flow chart of controlling a first foot end of a first limb and a second foot end of a second limb of a robot to reach corresponding support positions respectively in one embodiment;

[0060] FIG8 is a top view of a robot without a robot head in one embodiment;

[0061] FIG9 is a front view of controlling the first foot end of the first limb of the robot to reach directly below the rotation axis of the third joint of the first limb in one embodiment;

[0062] FIG10 is a schematic diagram of a process of controlling a robot to achieve a state in which a second joint of a second limb and a second foot end of the robot are both on the ground, and a first joint of a first limb is on the ground and a first structural member of the first limb is perpendicular to the ground when viewed from a side angle, in one embodiment;

[0063] FIG11 is a schematic diagram of a process for determining target angles of joints of a first limb of a robot according to the length of a third joint of the first limb, the length of a first structural member of the first limb, the body length of the robot, and a preset angle in one embodiment;

[0064] FIG12 is a schematic diagram of a process for determining target angles of joints of a second limb according to the length of a fourth joint of the second limb of the robot, the length of the second structural member of the second limb, the body length of the robot, a preset angle, and a structural limit of the fourth structural member of the second limb in one embodiment;

[0065] FIG13 is a block diagram of a robot control device in one embodiment;

[0066] FIG. 14 is a diagram showing the internal structure of a robot in one embodiment. DETAILED DESCRIPTION

[0067] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0068] In traditional technology, when a quadruped robot lies down, its limbs are folded up, its belly is close to the ground, and the body is supported by the bottom of its belly to achieve a low-power standby state. Although this method is simple enough and can achieve the most stable standby state, when the robot's belly is close to the ground, the front of the robot is parallel to the ground and the height is relatively low. The camera on the front of the robot cannot observe a close-up face, which is not suitable for human-computer interaction scenarios. In addition, although the viewing angle of the robot is high when it is standing, it is not suitable for long-term human-computer interaction scenarios because it requires continuous force from the joint motors. Therefore, in order to adapt to long-term human-computer interaction scenarios, a robot control method is provided to solve the problem of requiring both low power consumption and high viewing angle in long-term human-computer interaction scenarios.

[0069] The robot control method provided in the embodiment of the present application can be applied to the application environment as shown in FIG1. ​​In the human-machine interaction scene between the robot 102 and the user 104, a camera is pre-installed on the front of the robot 102. In order to allow the camera to capture the face of the user 104, the robot 102 will control the first foot end of its first limb and the second foot end of its second limb to reach the corresponding support position respectively. Thus, the first limb and the second limb are controlled to perform a half-lying action until the second joint and the second foot end of the second limb are both landed, and the first joint of the first limb is landed and the first structural member of the first limb is perpendicular to the ground at a side view angle; wherein the landing point of the second foot end is the support position corresponding to the second foot end, and the landing point of the first joint is directly below the third joint shaft of the first limb of the robot in the half-lying state. Then reduce the output torque of the joint motor of each joint to control itself to maintain a half-lying state. In the robot 102, but not limited to, various quadruped robots.

[0070] In an exemplary embodiment, as shown in FIG2 , a robot control method is provided, which is described by taking the method applied to the robot in FIG1 as an example, and includes the following steps:

[0071] Step 202, in a human-machine interaction scenario, control the first foot end of the first limb and the second foot end of the second limb of the robot to reach corresponding support positions respectively.

[0072] Among them, the robot can be a four-legged robot, such as a robot dog. The robot includes a body, a first limb and a second limb. The first limb can be two front legs, and the first foot end can be two front feet. The second limb can be two hind legs, and the second foot end can be two hind feet. The support position corresponding to the first foot end refers to the position directly below the hip joint axis before the robot performs a half-lying action. The hip joint axis is a straight line, and the position directly below the hip joint axis refers to the projection of the hip joint axis to the ground, which is also a straight line. The support position corresponding to the second foot end refers to the rear position of the second foot end when the robot is standing normally, and is also the landing position of the second foot end when the robot is in the target posture of half-lying.

[0073] Specifically, the robot is in a normal standing state in a natural state. The front view of the robot without a head in a normal standing state can be shown in Figure 3, and the first limb and the second limb of the robot are both perpendicular to the ground. A camera can be installed on the front of the robot body to obtain facial images. When the robot includes a head, the camera can be installed on the head. In a human-computer interaction scenario, in order for the camera to capture the user's facial image, the robot controls the first foot end and the second foot end to perform a stepping action in situ to adjust the positions of the first foot end and the second foot end until the first foot end and the second foot end reach corresponding support positions respectively. The support positions corresponding to the first foot end and the second foot end are different.

[0074] By adjusting the first foot end to the position directly below the hip joint axis, after the first limb lies down, the landing point of the first joint is directly below the hip joint axis in the current semi-prone state, so that the force arm is close to zero, and it can be stably supported without the joint motor output. In addition, the landing point of the first joint can also be close to the position directly below the hip joint axis, because the joint structure usually has a certain friction resistance, so even if the landing point of the first joint is a little distance from the position directly below the hip joint axis, resulting in an equivalent force arm of several millimeters or even centimeters, the posture can be fixed by friction resistance in actual situations, and the joint motor does not need to have obvious force. Adjust the second foot end to the support position corresponding to the second foot end, which is the rear position in the normal standing state, because the body of the robot will shift backwards during the process of lying down. If the second foot end is not moved back in advance, the second foot end will slide on the ground during the process of lying down, damaging the floor.

[0075] Step 204, control the first limb and the second limb of the robot to perform a half-prone motion until the second joint and the second foot end of the second limb are both on the ground, and the first joint of the first limb is on the ground and the first structural member of the first limb is perpendicular to the ground when viewed from the side; wherein the landing point of the second foot end is the support position corresponding to the second foot end, and the landing point of the first joint is directly below the third joint rotation axis of the first limb of the robot in the half-prone state.

[0076] The first limb may include a first joint and a first structural member, the first joint may be an elbow joint of a front leg, and the first structural member is a thigh. The second limb may include a second joint, the second joint may be a knee joint of a hind leg, and the third joint may be a hip joint of a front leg.

[0077] Specifically, when the robot performs a half-prone action, the target angles of the joints of the first limb and the second limb can be determined first, wherein the target angles are the angles of the joints of the first limb and the second limb in the target state of the half-prone position, that is, the angles of the joints when the second joint and the second foot of the second limb are both on the ground, and the first joint of the first limb is on the ground and the first structural member of the first limb is perpendicular to the ground at a side view angle. The reference angles of the joints of the first limb at each moment in the process of performing the half-prone action are determined according to the target angles of the joints of the first limb, and the reference angles of the joints of the second limb at each moment in the process of performing the half-prone action are determined according to the target angles of the joints of the second limb. Thus, the first limb and the second limb of the robot are controlled to perform the half-prone action according to the reference angles of the joints of the first limb and the second limb at each moment in the process of performing the half-prone action.

[0078] When the robot reaches the target state of half-proneness, the second limb completely prostrates, and the landing point of the second foot end is the support position corresponding to the second foot end, or close to the support position corresponding to the second foot end. The landing point of the first joint in the first limb is directly below the third joint rotation axis of the first limb of the robot in the half-prone state, or close to the third joint rotation axis of the first limb in the half-prone state. The first structural member of the first limb is perpendicular to the ground when viewed from the side. The third structural member of the first limb is in a retracted state and does not need to exert force to support the gravity of the fuselage.

[0079] The side view of the robot when the second joint and the second foot of the second limb are both on the ground, and the first joint of the first limb is on the ground and the first structural member of the first limb is perpendicular to the ground can be shown in Figure 4, wherein the second limb of the robot is completely lying down, and the rear half of the fuselage is at a lower position. The first limb is supported by the first structural member and the first joint, and the front half of the fuselage is at a higher position. The robot is facing forward and upward, and the front view is upward. The camera can capture the face of the user who is relatively high relative to the robot at a close position. When the robot performs a half-lying action, the robot can reach the half-lying target state shown in Figure 4 from Figure 1. Optionally, the ground in this embodiment can be a horizontal plane.

[0080] Optionally, when the robot performs the half-lying action, it can also first control the first limb and the second limb to lie down completely. The side view of the robot lying down completely can be seen in Figure 5, and then the state shown in Figure 4 can be reached from Figure 5. That is, the process of the robot performing the lying down action can be from Figure 1 to Figure 5, and then reach the state shown in Figure 4.

[0081] Refer to FIG. 6 , which shows a front view of the first limb of the robot in the target state of half-lying, wherein the landing point of the elbow joint, that is, the first joint, is directly below the rotation axis of the hip joint.

[0082] Step 206, reducing the output torque of the joint motors of each joint of the robot to control the robot to maintain a semi-prone state.

[0083] Since the second limb of the robot is completely lying down, the motors of each joint of the second limb do not need to output power. The landing point of the first joint of the first limb is directly below the third joint rotation axis of the first limb of the robot in the semi-lying state. The equivalent arm of the hip joint is almost zero. The first limb is mainly supported by the first structural member itself. The lower leg of the first limb is suspended in the air, and the elbow joint does not need to output power. The joint motors of the entire robot do not need to output torque to support the body gravity. It only needs the first structural member of the first limb to remain vertical to the ground at a side view angle. In the absence of the first structural member tilting forward and backward, the output torque of each joint motor of the robot is zero. Therefore, the robot can reduce the output torque of the joint motor, specifically to zero. There is no need to output torque, and there is no need to consume electrical energy. The robot can be controlled to maintain a semi-lying state for a long time.

[0084] In the above robot control method, in the human-machine interaction scenario, by pre-adjusting the first foot end to the corresponding support position, after the first limb lies down, the landing point of the first joint is directly below the third joint rotation axis of the first limb in the semi-lying state, and the equivalent arm of the hip joint is almost zero. By pre-adjusting the second foot end to the support position corresponding to the second foot end, after the second limb completely lies down, the second foot end falls on the support position corresponding to the second foot end, and the second foot end does not need to slide. The robot controls the second joint and the second foot end of the second limb to land, that is, the second limb lies down completely, and the support position is mainly the appearance structure of the hip joint of the second limb. Therefore, the motors of each joint of the second limb do not need to output. At the same time, the first joint of the first limb is controlled to land and the first structure of the first limb is perpendicular to the ground at a side view angle. The first limb is mainly supported by the first structure itself. The first structure of the first limb is perpendicular to the ground at a side view angle. It is also not necessary to output power to support the gravity of the fuselage. The lower leg of the first limb is suspended in the air, and the elbow joint does not need to output power. Therefore, the joint motors of the entire robot do not need to output torque to support the body's gravity. It only needs the first structural member of the first limb to remain perpendicular to the ground at a side-view angle. When the first structural member does not tilt forward or backward, the output torque of each joint motor of the robot is zero. Therefore, the robot can reduce the output torque of the joint motor to zero, does not need to output torque, and does not need to consume electrical energy. The robot can be controlled to maintain a semi-prone state for a long time, achieving low power consumption. In addition, the second limb of the robot is completely prone, and the rear half of the fuselage is relatively low. The first limb is supported by the first structural member and the first joint, and the front half of the fuselage is relatively high. The front view of the robot is upward, and the camera can capture the face of the user who is relatively high relative to the robot at a close position, achieving a high viewing angle, thereby solving the problem of requiring both low power consumption and high viewing angle in long-term human-computer interaction scenarios.

[0085] In an exemplary embodiment, as shown in FIG7 , in step 202 , controlling the first foot end of the first limb and the second foot end of the second limb of the robot to reach corresponding support positions respectively includes:

[0086] Step 702, control the first foot end of the first limb of the robot to reach the position directly below the third joint rotation axis of the first limb before performing the half-prone action.

[0087] Step 704, determining the support position of the second foot end of the second limb according to the length of the second structural component of the second limb of the robot, the length of the fourth structural component and the body length of the robot.

[0088] Step 706, controlling the second foot end of the second limb of the robot to reach the supporting position of the second foot end.

[0089] The third joint refers to the hip joint of the front leg, and the second structural member and the fourth structural member refer to the thigh and calf of the hind leg respectively.

[0090] Referring to FIG. 3 above, the first limb and the second limb of the robot both include a hip joint, a thigh rotation joint and a calf rotation joint, and each joint is provided with a corresponding actuator for driving the corresponding joint movement, for example, the actuator driving the hip joint movement is the hip joint actuator, the actuator driving the thigh rotation joint movement is the thigh rotation joint actuator, and the actuator driving the calf rotation joint movement is the calf rotation joint actuator. The robot's body width is Meters, body width refers to the distance between the rotating shafts of the left and right hip joint actuators, and the actuators can be called motors. Hip joint length Meters, the hip joint length refers to the distance between the rotation axis of the hip joint actuator and the middle axis of the calf (the line connecting the center of the ball of the foot and the center of the ball of the calf rotation joint). The thigh length of the front leg is L1 and the calf length is L2.

[0091] Refer to FIG8 , which shows a top view of the robot without the robot head, wherein the robot body length is Meters, body length refers to the distance between the front and rear thigh joint actuator shafts, that is, the distance between the front and rear feet when the front and rear legs are in the same posture. When standing normally, the distance between the landing position of the first foot end of the robot and the front and rear midline of the robot body rice.

[0092] Specifically, the first foot end of the first limb of the robot is controlled to be directly below the third joint rotation axis of the first limb. At this time, the front view of the first limb of the robot is shown in Figure 9. The support position corresponding to the second foot end is dX meters backward relative to the normal standing position, and the calculation formula is as follows:

[0093]

[0094] In this embodiment, by adjusting the first foot end to be directly below the hip joint axis, after the first limb lies down, the landing point of the first joint is directly below the hip joint axis, or close to directly below the hip joint axis, so that the force arm is close to zero, and it can be stably supported without the joint motor output. The second foot end is adjusted to the rear position in the normal standing state, because the robot body will shift backwards during the lying process. If the second foot end is not moved backward in advance, the second foot end will slide on the ground during the lying process, damaging the floor.

[0095] Optionally, when designing the robot structure, the position of the first foot end may be directly set to be directly below the hip joint. In this case, there is no need to adjust the landing position of the first foot end by stepping on the spot.

[0096] In an exemplary embodiment, as shown in FIG10 , in step 204, controlling the first limb and the second limb of the robot to perform a half-prone action until the second joint and the second foot end of the second limb are both on the ground, and the first joint of the first limb is on the ground and the first structure of the first limb is perpendicular to the ground at a side view angle includes:

[0097] Step 1002, determining the target angles of the joints of the first limb according to the length of the third joint of the first limb of the robot, the length of the first structural component of the first limb, the body length of the robot and the preset angle.

[0098] Step 1004, determining the target angles of the joints of the second limb according to the length of the fourth joint of the second limb of the robot, the length of the second structural member of the second limb, the body length of the robot, the preset angle and the structural limit of the fourth structural member of the second limb.

[0099] Step 1006, according to the target angles of the joints of the first limb and the target angles of the joints of the second limb, control the first limb and the second limb of the robot to perform a half-prone action, and when the target angles of the joints of the first limb and the target angles of the joints of the second limb are reached, determine that the second joint and the second foot end of the second limb are both on the ground, and the first joint of the first limb is on the ground and the first structural component of the first limb is perpendicular to the ground when viewed from the side.

[0100] The robot may include 12 joints, each of the first limb and the second limb includes three joints, and the first limb includes a first joint (calf rotation joint, also known as an elbow joint), a third joint (hip joint) and a fifth joint (thigh rotation joint). The first limb also includes a first structural member (thigh) and a third structural member (calf). The second limb includes a second joint (calf rotation joint, also known as a knee joint), a fourth joint (hip joint) and a sixth joint (thigh rotation joint). The second limb also includes a second structural member (thigh) and a fourth structural member (calf). The target angle is the angle of each joint of the first limb and the second limb in the target state of half-lying, that is, the angle of each joint when the second joint and the second foot end of the second limb are both on the ground, and the first joint of the first limb is on the ground and the first structural member of the first limb is perpendicular to the ground.

[0101] Since the posture of the robot is determined by the angles of the joints of the first limb and the second limb, in order to enable the robot to reach the target semi-lying state, the target angles of the joints of the first limb and the second limb in the target semi-lying state can be determined first.

[0102] Specifically, for the first limb, the robot obtains the length of the third joint of the first limb, the length of the first structural member of the first limb, the body length of the robot, and a preset angle. The preset angle can be According to the above parameters obtained, the adduction angle of the third joint in the first limb of the robot, the adduction angle of the first structural member, and the angle of the third structural member relative to the extension line of the first structural member are determined.

[0103] For the second limb, the robot obtains the length of the fourth joint of the second limb, the length of the second structural member of the second limb, the body length of the robot, the preset angle, and the structural limit of the fourth structural member of the second limb, where the structural limit is the maximum inward angle of the fourth structural member. Based on the above parameters, the outward angle of the fourth joint of the second limb of the robot, the retraction angle of the second structural member, and the inward angle of the fourth structural member are determined.

[0104] After determining the target angles of each joint of the robot, the first limb and the second limb are controlled to perform a half-prone action according to the target angles until each joint of the first limb and the second limb reaches the corresponding target angles. At this time, the robot reaches the target half-prone state in which the second joint of the second limb and the second foot end both land on the ground, and the first joint of the first limb lands on the ground and the first structural part of the first limb is perpendicular to the ground.

[0105] Optionally, the target angle of each joint of the robot can also be obtained experimentally, that is, the robot can be placed in a half-lying target state first, and the current angle of each joint of the robot at this time is read as the target angle of each joint.

[0106] In this embodiment, the target angles of the joints of the first limb and the second limb are determined by the robot's own structural parameters, so that accurate and reasonable joint angles can be obtained, thereby controlling the second joint of the second limb and the second foot end to land on the ground, and the first joint of the first limb to land on the ground and the first structural component of the first limb to be perpendicular to the ground.

[0107] In the above exemplary embodiment, as shown in FIG. 11 , step 1002, according to the length of the third joint of the first limb of the robot, the length of the first structural member of the first limb, the body length of the robot and the preset angle, determines the target angle of each joint of the first limb, including:

[0108] Step 1102, determining a target angle of the third joint of the first limb of the robot according to the length of the third joint of the first limb and the length of the first structural component of the first limb.

[0109] Step 1104 , determining a target angle of the first structural member according to the body length of the robot and the length of the first structural member.

[0110] Step 1106, determining a target angle of a third structural component of the first limb according to the target angle of the first structural component and the preset angle.

[0111] The target angles of the joints of the first limb in the half-prone target state are as follows:

[0112] The third joint of the first limb is in adduction, and the adduction angle is ,in, is the length of the third joint, is the length of the first structural member.

[0113] The first structural member of the first limb is perpendicular to the horizontal plane and slightly retracted relative to the position perpendicular to the fuselage, and the retraction angle is ,in, is the body length.

[0114] The angle of the third structural member of the first limb relative to the extension line of the first structural member is .

[0115] In this embodiment, according to the angle calculation relationship between each joint of the first limb and each structure of the body when the robot is in the target state of half-lying, the target angle of each joint of the first limb can be determined quickly and accurately.

[0116] In the above exemplary embodiment, as shown in FIG. 12 , step 1004, according to the length of the fourth joint of the second limb of the robot, the length of the second structural member of the second limb, the body length of the robot, the preset angle, and the structural limit of the fourth structural member of the second limb, determines the target angle of each joint of the second limb includes:

[0117] Step 1202, determining a target angle of the fourth joint of the second limb of the robot according to the length of the fourth joint of the second limb, the length of the second structural member of the second limb, and the structural limit of the fourth structural member of the second limb.

[0118] Step 1204, determining a target angle of the second structure of the second limb according to the length of the second structure of the second limb, the body length of the robot and the preset angle.

[0119] Step 1206: determine the structural limit of the fourth structural member as the target angle of the fourth structural member.

[0120] The target angles of the joints of the second limb in the half-prone target state are as follows:

[0121] The fourth joint of the second limb is extended outward at an angle of ,in, It is the structural limit of the fourth structural member.

[0122] The second structural member of the second limb is retracted relative to the position perpendicular to the fuselage, and the retraction angle is .

[0123] The fourth structural member of the second limb is retracted to the structural limit, and the angle is .

[0124] In this embodiment, the target angles of the joints of the second limb can be determined quickly and accurately based on the angle calculation relationship between the joints of the second limb and the structures of the body when the robot is in the target state of half-lying.

[0125] In an exemplary embodiment, in step 1006, controlling the first limb and the second limb of the robot to perform a half-prone movement according to the target angles of the joints of the first limb and the target angles of the joints of the second limb includes: determining the reference angles of the joints of the first limb at each moment according to the angles of the joints of the first limb at each moment when the robot is performing the half-prone movement, the expected duration of the half-prone movement, and the target angles of the joints of the first limb; determining the reference angles of the joints of the second limb at each moment according to the angles of the joints of the second limb at each moment when the robot is performing the half-prone movement, the expected duration of the half-prone movement, and the target angles of the joints of the second limb; controlling the first limb and the second limb of the robot to perform the half-prone movement according to the reference angles of the joints of the first limb at each moment and the reference angles of the joints of the second limb at each moment.

[0126] The angle of each joint of the robot at each moment is taken as the initial angle , the angles of each joint in the half-lying target posture are taken as the final angles , the final angle refers to the target angle of each joint. The expected duration of the half-crouching action is T, and each moment is t. Then the reference angle of each joint for position control at each moment during the half-crouching action is The reference angular velocity of each joint at each moment is zero. The position gain and velocity gain are both relatively large, such as the position gain can be 6 and the velocity gain can be 0.5.

[0127] According to the above formula, the reference angles of the joints of the first limb and the second limb at each moment can be calculated, so that the robot can be controlled to accurately perform the half-prone action.

[0128] In an exemplary embodiment, in step 1006, controlling the first limb and the second limb of the robot to perform a half-prone motion according to the target angles of the joints of the first limb and the target angles of the joints of the second limb includes: determining, by a linear interpolation method or a Bezier curve method, the reference angles of the joints of the first limb at each moment when the robot performs the half-prone motion according to the target angles of the joints of the first limb, and determining the reference angles of the joints of the second limb at each moment when the robot performs the half-prone motion according to the target angles of the joints of the second limb; controlling the first limb and the second limb of the robot to perform the half-prone motion according to the reference angles of the joints of the first limb and the second limb at each moment.

[0129] In this embodiment, after determining the target angles of the joints of the first limb and the second limb, a linear interpolation method or a Bezier curve method can be used to calculate the reference angles of the joints at each moment during the half-lying action. The linear interpolation method is simple and has a fast calculation speed, and can quickly calculate the reference angles of the joints at each moment. The Bezier curve method has high control accuracy, good continuity, and smooth movement, and can more accurately control the angles of the joints of the robot. At the same time, it can also perform smooth angle control, reducing the difficulty of robot control.

[0130] In an exemplary embodiment, in step 206, reducing the output torque of the joint motors of each joint of the robot includes: reducing the position gain and velocity gain of the third joint and the fifth joint of the first limb of the robot; and reducing the position gain and velocity gain of joints other than the third joint and the fifth joint to zero.

[0131] This embodiment can use a position control method to control the output torque of the motors of each joint of the robot.

[0132] The position control method can be as follows:

[0133]

[0134] in, is the desired output torque, is the desired joint position (angle), which is the reference angle of each joint at each moment when the robot is performing half-crouching work. is the current joint angle, is the position gain, is the desired joint angular velocity, is the current joint angular velocity, is the speed gain.

[0135] The robot can calculate The expected output current is calculated to control the output torque of the motors of each joint of the robot. Specifically, the robot adjusts the position gain and speed gain of all actuators (motors) except the third joint and the fifth joint of the first limb to zero. At the same time, the position gain and speed gain of the third joint and the fifth joint of the first limb are reduced. For example, the position gain can be reduced to 2 and the speed gain can be reduced to 0.2.

[0136] In this embodiment, since the second limb of the robot is completely prone, the second limb does not need to exert any force. The landing point of the first joint of the first limb is directly below the rotation axis of the third joint, and no force is required. The third structural member of the first limb is also in the retracted state and no force is required. It is only necessary for the third joint of the first limb to keep the first structural member vertical, and the output torque is zero when the first structural member does not tilt forward or backward. The fifth joint is the rotation joint corresponding to the first structural member. Considering that the first structural member may tilt, the position gain and speed gain of the joints other than the third joint and the fifth joint are reduced to zero, and the third joint and the fifth joint are adjusted to smaller values, which can reduce power consumption while maintaining a semi-prone state for a long time.

[0137] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0138] Based on the same inventive concept, the embodiment of the present application also provides a robot control device for implementing the robot control method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more robot control device embodiments provided below can refer to the limitations of the robot control method above, and will not be repeated here.

[0139] In an exemplary embodiment, as shown in FIG. 13 , a robot control device is provided, including: a foot end adjustment module 1302, a semi-prone control module 1304 and a torque adjustment module 1306, wherein:

[0140] The foot end adjustment module 1302 is used to control the first foot end of the first limb and the second foot end of the second limb of the robot to reach corresponding support positions respectively in a human-machine interaction scenario.

[0141] The half-prone control module 1304 is used to control the first limb and the second limb of the robot to perform a half-prone action until the second joint and the second foot end of the second limb are both on the ground, and the first joint of the first limb is on the ground and the first structural part of the first limb is perpendicular to the ground when viewed from a side angle; wherein the landing point of the second foot end is the support position corresponding to the second foot end, and the landing point of the first joint is directly below the rotation axis of the third joint of the first limb.

[0142] The torque adjustment module 1306 is used to reduce the output torque of the joint motors of each joint of the robot to control the robot to maintain a semi-prone state.

[0143] In an exemplary embodiment, the half-prone control module 1304 is also used to determine the target angles of the joints of the first limb according to the length of the third joint of the first limb of the robot, the length of the first structural part of the first limb, the body length of the robot and a preset angle; determine the target angles of the joints of the second limb according to the length of the fourth joint of the second limb of the robot, the length of the second structural part of the second limb, the body length of the robot, a preset angle and the structural limit of the fourth structural part of the second limb; control the first limb and the second limb of the robot to perform a half-prone action according to the target angles of the joints of the first limb and the target angles of the joints of the second limb, and when the target angles of the joints of the first limb and the target angles of the joints of the second limb are reached, determine that the second joint and the second foot end of the second limb are both on the ground, and that the first joint of the first limb is on the ground and the first structural part of the first limb is perpendicular to the ground when viewed from a side angle.

[0144] In an exemplary embodiment, the semi-crouching control module 1304 is also used to determine the target angle of the third joint of the first limb of the robot based on the length of the third joint of the first limb and the length of the first structural member of the first limb; determine the target angle of the first structural member based on the body length of the robot and the length of the first structural member; determine the target angle of the third structural member of the first limb based on the target angle of the first structural member and a preset angle.

[0145] In an exemplary embodiment, the half-crouching control module 1304 is also used to determine the target angle of the fourth joint of the second limb according to the length of the fourth joint of the second limb of the robot, the length of the second structural member of the second limb and the structural limit of the fourth structural member of the second limb; determine the target angle of the second structural member of the second limb according to the length of the second structural member of the second limb, the body length of the robot and a preset angle; and determine the structural limit of the fourth structural member as the target angle of the fourth structural member.

[0146] In an exemplary embodiment, the half-prone control module 1304 is also used to determine the reference angle of each joint of the first limb at each moment according to the angle of each joint of the first limb at each moment, the expected duration of the half-prone movement and the target angle of each joint of the first limb when the robot performs the half-prone movement; determine the reference angle of each joint of the second limb at each moment according to the angle of each joint of the second limb at each moment, the expected duration of the half-prone movement and the target angle of each joint of the second limb when the robot performs the half-prone movement; control the first limb and the second limb of the robot to perform the half-prone movement according to the reference angles of each joint of the first limb at each moment and the reference angles of each joint of the second limb at each moment.

[0147] In an exemplary embodiment, the half-prone control module 1304 is also used to determine, through a linear interpolation method or a Bezier curve method, the reference angles of the joints of the first limb at each moment when the robot performs a half-prone action according to the target angles of the joints of the first limb, and to determine the reference angles of the joints of the second limb at each moment when the robot performs a half-prone action according to the target angles of the joints of the second limb; and to control the first limb and the second limb of the robot to perform a half-prone action according to the reference angles of the joints of the first limb and the second limb at each moment.

[0148] In an exemplary embodiment, the foot end adjustment module 1302 is also used to control the first foot end of the first limb of the robot to reach directly below the rotation axis of the third joint of the first limb; determine the support position of the second foot end of the second limb according to the length of the second structural component of the second limb of the robot, the length of the fourth structural component and the body length of the robot; and control the second foot end of the second limb of the robot to reach the support position of the second foot end.

[0149] In an exemplary embodiment, the torque adjustment module 1306 is further configured to reduce the position gain and velocity gain of the third joint and the fifth joint of the first limb of the robot; and reduce the position gain and velocity gain of joints other than the third joint and the fifth joint to zero.

[0150] Each module in the above robot control device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0151] In an exemplary embodiment, a robot is provided, and the internal structure diagram of the robot can be shown in Figure 14. The robot includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the robot is used to provide computing and control capabilities. The memory of the robot includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the robot is used to store robot structural parameter data such as the length of the third joint of the first limb of the robot, the length of the first structural member of the first limb, the body length of the robot, and a preset angle. The input / output interface of the robot is used to exchange information between the processor and an external device. The communication interface of the robot is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a robot control method is implemented.

[0152] Those skilled in the art will understand that the structure shown in FIG. 14 is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the robot to which the scheme of the present application is applied. The specific robot may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0153] In an exemplary embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0154] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0155] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0156] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0157] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A robot control method, characterized in that: The method comprises: In a human-machine interaction scenario, controlling the first foot end of the first limb and the second foot end of the second limb of the robot to reach corresponding support positions respectively; Control the first limb and the second limb of the robot to perform a half-prone action until the second joint of the second limb and the second foot end both touch the ground, and the first joint of the first limb touches the ground and the first structure of the first limb is perpendicular to the ground when viewed from the side; wherein the landing point of the second foot end is the support position corresponding to the second foot end, and the landing point of the first joint is directly below the third joint rotation axis of the first limb of the robot in the half-prone state; Reduce the output torque of the joint motors of each joint of the robot to control the robot to maintain a semi-lying state.

2. The method according to claim 1, characterized in that The first limb and the second limb of the robot are controlled to perform a half-prone action until the second joint of the second limb and the second foot end are both on the ground, and the first joint of the first limb is on the ground and the first structure of the first limb is perpendicular to the ground at a side view angle, including: Determining target angles of joints of a first limb of the robot according to the length of a third joint of the first limb, the length of the first structural member of the first limb, the body length of the robot, and a preset angle; Determine the target angle of each joint of the second limb according to the length of the fourth joint of the second limb of the robot, the length of the second structural member of the second limb, the body length of the robot, the preset angle, and the structural limit of the fourth structural member of the second limb; According to the target angles of the joints of the first limb and the target angles of the joints of the second limb, the first limb and the second limb of the robot are controlled to perform a half-prone action. When the target angles of the joints of the first limb and the target angles of the joints of the second limb are reached, it is determined that the second joint of the second limb and the second foot end are both on the ground, and the first joint of the first limb is on the ground and the first structural component of the first limb is perpendicular to the ground when viewed from a side angle.

3. The method according to claim 2, characterized in that Determining the target angles of the joints of the first limb according to the length of the third joint of the first limb of the robot, the length of the first structural member of the first limb, the body length of the robot and the preset angle comprises: determining a target angle of the third joint of the first limb of the robot based on the length of the third joint of the first limb and the length of the first structural member of the first limb; determining a target angle of the first structural member according to a body length of the robot and a length of the first structural member; A target angle of a third structure of the first limb is determined according to the target angle of the first structure and a preset angle.

4. The method according to claim 2, characterized in that: Determining the target angle of each joint of the second limb according to the length of the fourth joint of the second limb of the robot, the length of the second structural member of the second limb, the body length of the robot, the preset angle, and the structural limit of the fourth structural member of the second limb comprises: Determining a target angle of the fourth joint of the second limb of the robot according to the length of the fourth joint of the second limb, the length of the second structural member of the second limb, and the structural limit of the fourth structural member of the second limb; determining a target angle of the second structure of the second limb according to the length of the second structure of the second limb, the body length of the robot, and a preset angle; The structural limit of the fourth structural member is determined as a target angle of the fourth structural member.

5. The method according to any one of claims 2 to 4, characterized in that: According to the target angles of the joints of the first limb and the target angles of the joints of the second limb, controlling the first limb and the second limb of the robot to perform the half-prone action comprises: Determine the reference angle of each joint of the first limb at each moment according to the angle of each joint of the first limb at each moment when the robot performs the half-crouching action, the expected duration of the half-crouching action, and the target angle of each joint of the first limb; Determine the reference angle of each joint of the second limb at each moment according to the angle of each joint of the second limb at each moment when the robot performs the half-crouching action, the expected duration of the half-crouching action, and the target angle of each joint of the second limb; According to the reference angles of the joints of the first limb at each moment and the reference angles of the joints of the second limb at each moment, the first limb and the second limb of the robot are controlled to perform a half-prone action.

6. The method according to any one of claims 2 to 4, characterized in that: According to the target angles of the joints of the first limb and the target angles of the joints of the second limb, controlling the first limb and the second limb of the robot to perform a half-prone action includes: Determine, by a linear interpolation method or a Bezier curve method, the reference angles of the joints of the first limb at each moment when the robot performs a half-prone action according to the target angles of the joints of the first limb, and determine, by a linear interpolation method or a Bezier curve method, the reference angles of the joints of the second limb at each moment when the robot performs a half-prone action according to the target angles of the joints of the second limb; According to the reference angles of the joints of the first limb and the second limb at each moment, the first limb and the second limb of the robot are controlled to perform a half-prone action.

7. The method according to claim 1, characterized in that The controlling the first foot end of the first limb and the second foot end of the second limb of the robot to reach corresponding support positions respectively comprises: Controlling the first foot end of the first limb of the robot to reach directly below the third joint rotation axis of the first limb before performing the half-prone action; Determining a support position of a second foot end of the second limb of the robot according to a length of a second structural member of the second limb of the robot, a length of a fourth structural member, and a body length of the robot; Control the second foot end of the second limb of the robot to reach the supporting position of the second foot end.

8. The method according to claim 1, characterized in that The method of reducing the output torque of the joint motors of each joint of the robot comprises: reducing the position gain and velocity gain of the third joint and the fifth joint of the first limb of the robot; The position gains and velocity gains of joints other than the third joint and the fifth joint are reduced to zero.

9. A robot control device, characterized in that: The device comprises: A foot end adjustment module is used to control the first foot end of the first limb and the second foot end of the second limb of the robot to reach corresponding support positions respectively in a human-machine interaction scenario; A half-prone control module is used to control the first limb and the second limb of the robot to perform a half-prone action until the second joint of the second limb and the second foot end are both on the ground, and the first joint of the first limb is on the ground and the first structure of the first limb is perpendicular to the ground when viewed from the side; wherein the landing point of the second foot end is the support position corresponding to the second foot end, and the landing point of the first joint is directly below the third joint rotation axis of the first limb of the robot in the half-prone state; The torque adjustment module is used to reduce the output torque of the joint motors of each joint of the robot to control the robot to maintain a semi-lying state.

10. A robot, comprising a memory and a processor, wherein the memory stores a computer program, wherein: The processor implements the steps of the method according to any one of claims 1 to 8 when executing the computer program.

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