Method, device, equipment, storage medium and product for restoring robot standing posture

Abstract

The application relates to a robot standing posture recovery method, device, equipment, storage medium and product, which comprises the following steps: after detecting a robot falling state, acquiring falling posture data by collecting joint angles in real time, solving contact points with the ground to determine a support part set; combining a preset zero moment point reference track, performing inverse dynamics solving based on the set, generating a joint motion sequence, configuring each joint position instruction to form a standing-up planning track; according to the track, real-time compensation is performed on the current output torque of each joint to obtain a driving torque instruction, and each joint motor is driven to execute an action, so that the robot is recovered from the current posture to the standing posture, and the technical problem that the preset rigid action of the robot when falling often does not match the current actual support state, leading to the robot being prone to center of gravity imbalance when executing the standing-up action is solved.

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