Robot trajectory generation method and device

Abstract

This disclosure relates to the field of biomimetic robotics, specifically providing a method and apparatus for generating robot motion trajectories. The method includes obtaining a corresponding behavior sequence based on the robot's motion behavior; for each time point in the behavior sequence, determining the optimal variable corresponding to each time point based on a target dynamics model; and determining the target trajectory corresponding to the motion behavior based on the optimal variable. In this disclosure, a target dynamics model for optimizing high-dynamic motion trajectories is constructed based on the robot's center-of-mass dynamics and whole-body kinematics. This simplifies the trajectory optimization algorithm and effectively reflects the whole-body motion information of the robot during high-dynamic motion. By encoding the corresponding behavior sequence for high-dynamic motion, the method accurately reflects the motion information during various high-dynamic motion processes, thereby improving trajectory planning accuracy.

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