Motion control method, control device, electronic equipment, medium and product

Abstract

The invention relates to a motion control method, a control device, electronic equipment, a medium and a product. The control method comprises the steps of determining a target position of a robot mass center; according to the current position of the mass center of the robot, the target position of the mass center of the robot and the expected pose of the robot, the target pose of the robot is determined; and according to the current pose of the robot and the target pose, the pose of the robot is adjusted, so that the robot moves to the target pose. Thus, the mass center is tracked and calibrated, the target position of the mass center of the robot is used for adjusting the expected pose of the robot, and the target pose is obtained, so that interference control over the expected pose of the robot is achieved, the dynamic influence caused by mass center position deviation is compensated, the balance of the robot is effectively maintained, and the robot is prevented from toppling over. Therefore, the robot can accurately complete the task, and the user experience is improved.

Images