Multi-degree-of-freedom robot, control method, computer equipment and readable storage medium

Abstract

The invention discloses a multi-degree-of-freedom robot, a control method, computer equipment and a readable storage medium. The multi-degree-of-freedom robot comprises a body, a multi-degree-of-freedom head, multi-degree-of-freedom upper limbs and multi-degree-of-freedom lower limbs. The rotation mode of the multi-degree-of-freedom head comprises horizontal plane rotation and first vertical plane rotation; the rotation modes of the multi-degree-of-freedom upper limbs comprise horizontal plane rotation, first vertical plane rotation and second vertical plane rotation; the rotation modes of the multi-degree-of-freedom lower limbs comprise horizontal plane rotation and first vertical plane rotation; the first vertical face is the vertical face where the body is located in the front-back direction, and the second vertical face is the vertical face where the body is located in the left-right direction. The multi-degree-of-freedom head, the multi-degree-of-freedom upper limbs and the multi-degree-of-freedom lower limbs of the multi-degree-of-freedom robot respectively have multiple degrees of freedom, so that the whole multi-degree-of-freedom robot can present humanoid actions and postures and has a better humanoid effect.

Description

Technical Field

[0001] The present invention relates to the field of robots, and particularly to a multi-degree-of-freedom robot, a control method, a computer device, and a readable storage medium. Background Art

[0002] Robots are usually formed by imitating the body shape and various parts of a human. Each part of a human has a relatively large number of degrees of freedom, thus showing high flexibility.

[0003] In the prior art, robots are usually assembled by mechanical structures, lacking degrees of freedom and flexibility, and it is difficult to achieve the effect of imitating a human.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a multi-degree-of-freedom robot, a control method, a computer device, and a readable storage medium in view of the above-mentioned defects of the prior art, aiming to solve the problem that robots in the prior art lack degrees of freedom and flexibility and it is difficult to achieve the effect of imitating a human.

[0006] The technical solution adopted by the present invention to solve the technical problem is as follows: In a first aspect, the solution of the present invention provides a multi-degree-of-freedom robot, including: A body; A multi-degree-of-freedom head, movably arranged on the body; Multi-degree-of-freedom upper limbs, movably arranged on the body; Multi-degree-of-freedom lower limbs, movably arranged on the body; Wherein, the rotation modes of the multi-degree-of-freedom head include: horizontal plane rotation and first vertical plane rotation; The rotation modes of the multi-degree-of-freedom upper limbs include: horizontal plane rotation, first vertical plane rotation, and second vertical plane rotation; The rotation modes of the multi-degree-of-freedom lower limbs include: horizontal plane rotation and first vertical plane rotation; The first vertical plane is the vertical plane in the front-back direction of the body, and the second vertical plane is the vertical plane in the left-right direction of the body.

[0007] In other solutions of the present invention, the multi-degree-of-freedom upper limbs include: A first arm, movably connected to the body; A second arm, movably connected to the first arm; A hand, movably connected to the second arm; Wherein, the rotation modes of the first arm include: first vertical plane rotation and second vertical plane rotation; The rotation modes of the second arm include: horizontal plane rotation and first vertical plane rotation; The rotation modes of the hand include: horizontal plane rotation and second vertical plane rotation.

[0008] In other solutions of the present invention, the hand includes: Palm; Fingers, arranged on the palm; Wherein, the fingers rotate relative to the palm to realize the bending of the fingers.

[0009] In other solutions of the present invention, the multi-degree-of-freedom lower limb includes: The first leg, movably connected to the body; The second leg, rotatably connected to the first leg; The moving foot, rotatably connected to the second leg; Wherein, the rotation modes of the first leg include: horizontal plane rotation and first vertical plane rotation; The rotation mode of the second leg includes: first vertical plane rotation.

[0010] In other solutions of the present invention, the moving foot includes: Body; The moving driving member, arranged on the body; The wheel body, connected to the output shaft of the moving driving member.

[0011] In other solutions of the present invention, the multi-degree-of-freedom head includes: The neck, rotatably connected to the body; The cranial part, rotatably connected to the neck; Wherein, the rotation mode of the neck includes: horizontal plane rotation; The rotation mode of the cranial part includes: first vertical plane rotation.

[0012] In a second aspect, the solution of the present invention provides a control method for a multi-degree-of-freedom robot as described in any one of the above, including: Determine the target posture of the multi-degree-of-freedom robot; According to the target posture, control the rotation of the multi-degree-of-freedom head; according to the target posture, control the rotation of the multi-degree-of-freedom upper limb; according to the target posture, control the rotation of the multi-degree-of-freedom lower limb.

[0013] In other solutions of the present invention, the controlling the rotation of the multi-degree-of-freedom upper limb according to the target posture includes: Control the rotation of the first arm according to the target posture; Control the rotation of the second arm according to the target posture; Control the rotation of the hand according to the target posture; Control the rotation of the fingers according to the target posture; The controlling the rotation of the multi-degree-of-freedom lower limbs according to the target posture includes: Control the rotation of the first leg according to the target posture; Control the rotation of the second leg according to the target posture.

[0014] In a third aspect, the solution of the present invention provides a computer device, including a memory and a processor, where the memory stores a computer program, and wherein when the processor executes the computer program, the steps of the control method described in any one of the above are implemented.

[0015] In a fourth aspect, the solution of the present invention provides a computer-readable storage medium, on which a computer program is stored, and wherein when the computer program is executed by a processor, the steps of the control method described in any one of the above are implemented.

[0016] Beneficial effects: The multi-degree-of-freedom head, multi-degree-of-freedom upper limbs, and multi-degree-of-freedom lower limbs of the multi-degree-of-freedom robot each have multiple degrees of freedom, enabling the entire multi-degree-of-freedom robot to present human-like movements and postures, with a better human-like effect. Description of the Drawings

[0017] Figure 1 is the front view of the multi-degree-of-freedom robot in the embodiment of the present invention.

[0018] Figure 2 is Figure 1 the sectional view taken along the direction A in

[0019] Figure 3 is the side view of the multi-degree-of-freedom robot in the embodiment of the present invention.

[0020] Figure 4 is Figure 3 the sectional view taken along the direction B in

[0021] Figure 5 is the internal structure schematic diagram of the multi-degree-of-freedom robot in the embodiment of the present invention.

[0022] Figure 6 is the structural schematic diagram of the moving foot in the embodiment of the present invention.

[0023] Figure 7 is the sectional view of the sixth driving member in the embodiment of the present invention.

[0024] Figure 8 is the first exploded view of the sixth driving member in the embodiment of the present invention.

[0025] Figure 9 is the second exploded view of the sixth driving member in the embodiment of the present invention.

[0026] Description of the reference numerals: 10. Body; 20. Multi-degree-of-freedom head; 21. Neck; 211. Eleventh driving member; 212. Spinal column; 213. Neck cover; 22. Cranial part; 221. Twelfth driving member; 222. Cranial body; 30. Multi-degree-of-freedom upper limb; 31. First arm; 311. First housing; 312. First driving member; 313. Second driving member; 314. Third driving member; 32. Second arm; 321. Second housing; 322. Fourth driving member; 323. Fifth driving member; 324. Sixth driving member; 3241. Driver; 3242. Gearbox; 3243. First bevel gear; 3244. Second bevel gear; 3245. First box cover; 3246. Second box cover; 3247. First box opening; 3248. Second box opening; 3249. Wire passing hole; 33. Hand; 331. Palm; 332. Fingers; 333. Saddle platform; 334. Support body; 335. Rotating shaft; 336. Wire groove; 40. Multi-degree-of-freedom lower limb; 41. First leg; 411. Seventh driving member; 412. Eighth driving member; 413. First connecting plate; 42. Second leg; 421. Ninth driving member; 422. Second connecting plate; 423. Tenth driving member; 43. Moving foot; 431. Body; 4311. U-shaped wedge structure; 432. Wheel body. Detailed implementation manners

[0027] To make the objectives, technical solutions and advantages of the present invention clearer and more definite, the following further describes the present invention in detail with reference to the accompanying drawings and by way of examples. It should be understood that the specific examples described herein are only for explaining the present invention and are not used to limit the present invention.

[0028] Please refer to Figures 1-9 simultaneously, and the present invention provides some embodiments of a multi-degree-of-freedom robot.

[0029] As Figure 1 shown, the multi-degree-of-freedom robot of the present invention includes: Body 10; Multi-degree-of-freedom head 20, movably arranged on the body 10; Multi-degree-of-freedom upper limb 30, movably arranged on the body 10; Multi-degree-of-freedom lower limb 40, movably arranged on the body 10; Among them, the rotation modes of the multi-degree-of-freedom head 20 include: horizontal plane rotation and first vertical plane rotation; the rotation modes of the multi-degree-of-freedom upper limb 30 include: horizontal plane rotation, first vertical plane rotation and second vertical plane rotation; the rotation modes of the multi-degree-of-freedom lower limb 40 include: horizontal plane rotation and first vertical plane rotation; the first vertical plane is the vertical plane where the front and back directions of the body 10 are located, and the second vertical plane is the vertical plane where the left and right directions of the body 10 are located.

[0030] Specifically, the body 10 refers to the structure of the human body excluding the limbs and head. The body 10 is in the shape of a humanoid body 10, and the body 10 is specifically an inverted trapezoid. The multi-degree-of-freedom robot is a humanoid robot with multiple degrees of freedom, and the degrees of freedom of the multi-degree-of-freedom robot are humanoid degrees of freedom. For example, the multi-degree-of-freedom head 20 can rotate in the horizontal plane to achieve left and right rotation, and the multi-degree-of-freedom head 20 can rotate in the first vertical plane to achieve up and down rotation. The combination of the two enables the multi-degree-of-freedom head 20 to rotate within a large range, facing upward, downward, leftward, rightward and forward respectively. The multi-degree-of-freedom upper limb 30 can rotate in the horizontal plane to achieve the self-rotation of the multi-degree-of-freedom upper limb 30. The multi-degree-of-freedom arm can rotate in the first vertical plane to achieve front and back rotation, and the multi-degree-of-freedom upper limb 30 can rotate in the second vertical plane to achieve left and right rotation. The multi-degree-of-freedom lower limb 40 can rotate in the horizontal plane to achieve the self-rotation of the body 10, and the multi-degree-of-freedom lower limb 40 can rotate in the first vertical plane to achieve the front and back bending of the multi-degree-of-freedom leg.

[0031] The multi-degree-of-freedom head 20, multi-degree-of-freedom upper limb 30, and multi-degree-of-freedom lower limb 40 of the multi-degree-of-freedom robot respectively have multiple degrees of freedom, enabling the entire multi-degree-of-freedom robot to present humanoid actions and postures, with a better humanoid effect.

[0032] In a preferred implementation manner of the embodiment of the present invention, as Figure 1 shown, the multi-degree-of-freedom upper limb 30 includes: The first arm 31, which is movably connected to the body 10; The second arm 32, which is movably connected to the first arm 31; The hand 33, which is movably connected to the second arm 32; Among them, the rotation modes of the first arm 31 include: first vertical plane rotation and second vertical plane rotation; the rotation modes of the second arm 32 include: horizontal plane rotation and first vertical plane rotation; the rotation modes of the hand 33 include: horizontal plane rotation and second vertical plane rotation.

[0033] Specifically, the multi-degree-of-freedom upper limb 30 includes a first arm 31, a second arm 32, and a hand 33 that are sequentially movably connected. The first arm 31 can rotate in a first vertical plane to rotate in the front-back direction and can rotate in a second vertical plane to rotate in the left-right direction. The first arm 31 drives the second arm 32 to rotate in a horizontal plane to achieve the self-rotation of the second arm 32, and the second arm 32 rotates in the first vertical plane to rotate in the front-back direction. The second arm 32 drives the hand 33 to rotate in a horizontal plane to achieve the self-rotation of the palm 331, and the hand 33 rotates in the second vertical plane to rotate in the left-right direction.

[0034] In a preferred implementation manner of the embodiment of the present invention, as Figure 4 and Figure 5 shown, the first arm 31 includes: a first housing 311, and a first driving member 312, a second driving member 313, and a third driving member 314 that are sequentially connected. The first driving member 312, the second driving member 313, and the third driving member 314 are all located inside the first housing 311. The first driving member 312 drives the entire upper limb to rotate in the front-back direction, the second driving member 313 drives the entire upper limb to rotate in the left-right direction, and the third driving member 314 drives the second arm 32 and the arm to rotate in a horizontal plane.

[0035] As Figure 4 and Figure 5 shown, the second arm 32 includes: a second housing 321, and a fourth driving member 322, a fifth driving member 323, and a sixth driving member 324 that are sequentially connected. The fourth driving member 322, the fifth driving member 323, and the sixth driving member 324 are all located inside the second housing 321. The fourth driving member 322 drives the second arm 32 and the hand 33 to rotate in the front-back direction, the fifth driving member 323 drives the hand 33 to rotate in a horizontal plane. The sixth driving member 324 drives the hand 33 to rotate in the left-right direction.

[0036] In a preferred implementation manner of the embodiment of the present invention, as Figures 7-9 shown, the sixth driving member 324 includes: a driver 3241; a gearbox 3242, arranged on the driver 3241, and formed with a first box opening 3247 and a second box opening 3248; a first bevel gear 3243, located at a position corresponding to the first box opening 3247 inside the gearbox 3242, and connected to the output shaft of the driver 3241; a second bevel gear 3244, located at a position corresponding to the second box opening 3248 inside the gearbox 3242, and meshed with the first bevel gear 3243; a first box cover 3245, installed on the first box opening 3247; a second box cover 3246, installed on the second box opening 3248.

[0037] Specifically, the second bevel gear 3244 is rotatably connected to the first housing cover 3245, and a wire passing hole 3249 is provided on the first housing cover 3245. The first bevel gear 3243 is placed into the gearbox 3242 through the first window, and the second bevel gear 3244 is placed into the gearbox 3242 through the second window. A bearing can be arranged between the output shaft of the driver 3241 and the gearbox 3242. A bearing can be arranged between the second bevel gear 3244 and the second housing cover 3246.

[0038] In a preferred implementation manner of the embodiment of the present invention, as Figure 3 and Figure 5 shown, the hand 33 includes: a palm 331; fingers 332, arranged on the palm 331; wherein, the fingers 332 rotate relative to the palm 331 to realize the bending of the fingers 332.

[0039] Specifically, there are five fingers 332, and all five fingers 332 rotate relative to the palm 331, and multiple phalanges of the fingers 332 can also rotate and bend. Each finger 332 is configured with a corresponding driving structure, and each finger 332 can be independently controlled to rotate relative to the palm 331 and the fingers 332 themselves can bend.

[0040] The palm 331 is provided with a saddle platform 333, a support body 334 is arranged on the saddle platform 333, a rotating shaft 335 is arranged on the support body 334, and the rotating shaft 335 is connected to the second bevel gear 3244. A communication wire groove 336 is formed on the saddle platform 333, the support body 334 and the rotating shaft 335. One end of the wire groove 336 faces the wire passing hole 3249, and the other end of the wire groove 336 faces the palm 331. The wire passing hole 3249 and the wire groove 336 can supply wires to pass through so as to connect the driving structures of the fingers 332.

[0041] In a preferred implementation manner of the embodiment of the present invention, as Figure 1 and Figure 3 shown, the multi-degree-of-freedom lower limb 40 includes: a first leg 41, movably connected to the body 10; a second leg 42, rotatably connected to the first leg 41; a moving foot 43, rotatably connected to the second leg 42; wherein, the rotation mode of the first leg 41 includes: horizontal plane rotation and first vertical plane rotation; the rotation mode of the second leg 42 includes: first vertical plane rotation.

[0042] Specifically, the multi-degree-of-freedom lower limb 40 includes a first leg 41, a second leg 42, and a moving foot 43 that are sequentially movably connected. The first leg 41 can rotate in a horizontal plane to achieve the self-rotation of the body 10, and the first leg 41 can rotate in a first vertical plane to achieve rotation in the front-back direction, and the first leg 41 rotates in the front-back direction relative to the body 10 or the second leg 42. The second leg 42 can rotate in the first vertical plane to achieve rotation in the front-back direction, and the second leg 42 can rotate in the front-back direction relative to the moving foot 43 or the second leg 42.

[0043] As Figure 4 and Figure 5 shown, the first leg 41 includes a seventh driving member 411, an eighth driving member 412, and two first connecting plates 413 that are sequentially connected. The seventh driving member 411 drives the body 10 to rotate in a horizontal plane, and the eighth driving member 412 drives the first connecting plate 413 to rotate in the front-back direction relative to the body 10. The two first connecting plates 413 are respectively located on both sides of the eighth driving member 412. The second leg 42 includes a ninth driving member 421, a second connecting plate 422, and a tenth driving member 423 that are sequentially connected. The ninth driving member 421 is located between the two first connecting plates 413. The ninth driving member 421 drives the second connecting plate 422 to rotate in the front-back direction relative to the first connecting plate 413. The tenth driving member 423 drives the second connecting plate 422 to rotate in the front-back direction relative to the moving foot 43.

[0044] In a preferred implementation manner of the embodiment of the present invention, as Figures 1-3 shown, the moving foot 43 includes: a body 431; a moving driving member disposed on the body 431; a wheel body 432 connected to the output shaft of the moving driving member.

[0045] Specifically, the moving driving member drives the wheel body 432 to rotate, so as to realize the movement of the moving foot 43. As Figure 6 shown, the upper surface of the body 431 presents a U-shaped wedge structure 4311, and the U-shaped wedge structure 4311 is configured to support and limit the multi-degree-of-freedom lower limb 40 in a retracted state, thereby improving the movement stability of the multi-degree-of-freedom robot. The U-shaped wedge structure 4311 has two wedge structures, and the wedge structure is a structure with one end large and the other end small. The small end of the U-shaped wedge structure 4311 faces forward, and the large end faces backward. The moving driving member is configured to drive the wheel body 432 to rotate. There are at least two moving driving members, and there are at least three wheel bodies 432. For example, when two moving driving members are adopted and the two moving driving members are connected to the corresponding wheel bodies 432, when the two moving driving members drive the corresponding wheel bodies 432 to rotate synchronously, the multi-degree-of-freedom robot can move forward or backward. When the two moving driving members drive the corresponding wheel bodies 432 to rotate asynchronously, the multi-degree-of-freedom robot can turn.

[0046] In a preferred implementation manner of an embodiment of the present invention, as Figures 2-4 shown, the multi-degree-of-freedom head 20 includes: a neck 21, rotatably connected to the body 10; a cranial part 22, rotatably connected to the neck 21; wherein, the rotation mode of the neck 21 includes: rotation in a horizontal plane; the rotation mode of the cranial part 22 includes: rotation in a first vertical plane.

[0047] Specifically, the neck 21 can rotate in the horizontal plane to realize the left-right rotation of the cranial part 22. The cranial part 22 can rotate in the first vertical plane to realize the up-down rotation of the cranial part 22. The neck 21 includes an eleventh driving member 211 and a spinal column 212. The eleventh driving member 211 is arranged on the body 10, and the eleventh driving member 211 drives the spinal column 212 to rotate relative to the body 10 in the horizontal plane. The neck 21 further includes a neck cover 213. The neck cover 213 is sleeved outside the spinal column 212. The upper end of the neck cover 213 is connected to the cranial part 22, and the lower end of the neck cover 213 is connected to the body 10. The neck cover 213 is a flexible cover. The cranial part 22 includes a twelfth driving member 221 and a cranial body 222. The twelfth driving member 221 is arranged on the spinal column 212, and the twelfth driving member 221 drives the cranial body 222 to rotate relative to the body 10 in the first vertical plane.

[0048] Based on the multi-degree-of-freedom robot described in any of the above embodiments, the present invention further provides a preferred embodiment of a control method for a multi-degree-of-freedom robot.

[0049] The control method for the multi-degree-of-freedom robot according to the embodiment of the present invention includes the following steps: Step S100, determining the target posture of the multi-degree-of-freedom robot; Step S200, controlling the rotation of the multi-degree-of-freedom head according to the target posture; controlling the rotation of the multi-degree-of-freedom upper limb according to the target posture; controlling the rotation of the multi-degree-of-freedom lower limb according to the target posture.

[0050] Specifically, first determine the target posture of the multi-degree-of-freedom robot, and then control the rotation of the multi-degree-of-freedom head, the multi-degree-of-freedom upper limb, and the multi-degree-of-freedom lower limb according to the target. The multi-degree-of-freedom head, the multi-degree-of-freedom upper limb, and the multi-degree-of-freedom lower limb can be controlled separately.

[0051] Step S200 specifically includes: Step S210, controlling the rotation of the first arm according to the target posture; Step S220, controlling the rotation of the second arm according to the target posture; Step S230, controlling the rotation of the hand according to the target posture; Step S240, controlling the rotation of the fingers according to the target posture.

[0052] Specifically, control the first driving member, the second driving member, the third driving member, the fourth driving member, the fifth driving member, and the sixth driving member to adjust the postures of the first arm, the second arm, and the hand to the target postures. Control the fingers to rotate so that the fingers adjust their postures to the target postures.

[0053] Step S200 specifically includes: Step S250: Control the first leg to rotate according to the target posture; Step S260: Control the second leg to rotate according to the target posture.

[0054] Specifically, control the seventh driving member and the eighth driving member to adjust the postures of the body and the first leg to the target postures, and control the ninth driving member and the tenth driving member to adjust the postures of the first leg and the second leg to the target postures.

[0055] Step S200 specifically includes: Step S270: Control the eleventh driving member to drive the spine to rotate according to the target posture; Step S280: Control the twelfth driving member to drive the cranial body to rotate according to the target posture.

[0056] Specifically, the cranial body adjusts its posture to the target posture through the eleventh driving member and the twelfth driving member.

[0057] Based on the control method of the multi-degree-of-freedom robot described in any of the above embodiments, the present invention also provides an embodiment of a computer device.

[0058] The computer device of the present invention includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the steps of the control method described in any of the above embodiments.

[0059] Based on the control method of the multi-degree-of-freedom robot described in any of the above embodiments, the present invention also provides an embodiment of a computer-readable storage medium.

[0060] The computer-readable storage medium of the present invention stores a computer program thereon, and when the computer program is executed by a processor, it implements the steps of the control method described in any of the above embodiments.

[0061] It should be understood that the application of the present invention is not limited to the above examples. For those of ordinary skill in the art, improvements or transformations can be made according to the above description, and all such improvements and transformations should fall within the protection scope of the appended claims of the present invention.

Claims

1. A multi-degree-of-freedom robot, characterized in that, Comprising: A body; A multi-degree-of-freedom head, movably arranged on the body; Multi-degree-of-freedom upper limbs, movably arranged on the body; Multi-degree-of-freedom lower limbs, movably arranged on the body; Wherein, the rotation modes of the multi-degree-of-freedom head include: horizontal plane rotation and first vertical plane rotation; The rotation modes of the multi-degree-of-freedom upper limbs include: horizontal plane rotation, first vertical plane rotation and second vertical plane rotation; The rotation modes of the multi-degree-of-freedom lower limbs include: horizontal plane rotation and first vertical plane rotation; The first vertical plane is the vertical plane in the front-back direction of the body, and the second vertical plane is the vertical plane in the left-right direction of the body.

2. The multi-degree-of-freedom robot according to claim 1, wherein The multi-degree-of-freedom upper limbs include: A first arm, movably connected to the body; A second arm, movably connected to the first arm; A hand, movably connected to the second arm; Wherein, the rotation modes of the first arm include: first vertical plane rotation and second vertical plane rotation; The rotation modes of the second arm include: horizontal plane rotation and first vertical plane rotation; The rotation modes of the hand include: horizontal plane rotation and second vertical plane rotation.

3. The multi-degree-of-freedom robot according to claim 2, wherein The hand includes: A palm; Fingers, arranged on the palm; Wherein, the fingers rotate relative to the palm to achieve the bending of the fingers.

4. The multi-degree-of-freedom robot according to claim 1, wherein The multi-degree-of-freedom lower limbs include: A first leg, movably connected to the body; A second leg, rotatably connected to the first leg; A moving foot, rotatably connected to the second leg; Wherein, the rotation modes of the first leg include: horizontal plane rotation and first vertical plane rotation; The rotation mode of the second leg includes: first vertical plane rotation.

5. The multi-degree-of-freedom robot according to claim 4, characterized in that, The moving foot includes: A body; A moving driving member, arranged on the body; A wheel body, connected to the output shaft of the moving driving member.

6. The multi-degree-of-freedom robot according to claim 1, characterized in that The multi-degree-of-freedom head includes: A neck, rotatably connected to the body; A cranial part, rotatably connected to the neck; Wherein, the rotation mode of the neck includes: horizontal plane rotation; The rotation mode of the cranial part includes: first vertical plane rotation.

7. A control method for a multi-degree-of-freedom robot according to any one of claims 1 to 6, characterized in that, The control method includes: Determining the target posture of the multi-degree-of-freedom robot; According to the target posture, controlling the rotation of the multi-degree-of-freedom head; according to the target posture, controlling the rotation of the multi-degree-of-freedom upper limbs; according to the target posture, controlling the rotation of the multi-degree-of-freedom lower limbs.

8. The control method of the multi-degree-of-freedom robot according to claim 7, characterized in that, The controlling the rotation of the multi-degree-of-freedom upper limbs according to the target posture includes: According to the target posture, controlling the rotation of the first arm; According to the target posture, controlling the rotation of the second arm; According to the target posture, controlling the rotation of the hand; According to the target posture, controlling the rotation of the fingers; The controlling the rotation of the multi-degree-of-freedom lower limbs according to the target posture includes: According to the target posture, controlling the rotation of the first leg; According to the target posture, controlling the rotation of the second leg.

9. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it realizes the steps of the control method according to any one of claims 7 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it realizes the steps of the control method according to any one of claims 7 to 8.

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