Stair passing control method for quadruped robot

Abstract

The application discloses a kind of four-legged robot stair passing control methods, wherein method includes: based on the support state formed by the four-legged robot through mobile actuator and stair step, dynamic stability area is constructed in horizontal support plane;The mass center position of the whole body structure and mechanical arm is obtained;The position deviation between the vertical projection point of the mass center position on the horizontal support plane and the geometric center of the dynamic stability area is calculated;When the position deviation exceeds the preset safety range, control the mechanical arm to adjust its own posture, make the mass center position of the whole body move to the dynamic stability area, maintain the motion stability of four-legged robot in complex dynamic terrain such as stair.

Description

Technical Field

[0001] This invention relates to the field of computer information processing, and more specifically, to a method for controlling the passage of a quadruped robot through stairs. Background Technology

[0002] Quadruped robots mimic the locomotion of quadruped animals in nature. Due to their excellent adaptability to unstructured terrain and dynamic movement performance, they have shown great application potential in fields such as complex environment inspection, disaster emergency rescue, facility construction assistance, and special operations, attracting widespread attention and research. Compared to wheeled or tracked mobile platforms, quadruped robots can traverse steps, stairs, and rugged terrain through discrete foot placement points, giving them a significant advantage in mobility.

[0003] As application demands deepen, equipping quadruped robots with robotic arms to perform tasks such as grasping and manipulation has become an important development direction. However, while enhancing functionality, the introduction of robotic arms also brings new technical challenges: the stability control of the robot during movement becomes more complex. Especially in scenarios with extremely high balance requirements, such as navigating stairs, the robotic arm and its load can significantly alter the robot's overall mass properties.

[0004] Currently, when robots perform mobile tasks, the robotic arm is typically required to maintain a fixed posture or be retracted near the robot body as a fixed load to avoid adversely affecting the robot's stability. This sacrifices the robotic arm's task functionality to ensure mobile stability. This contradicts the original intention of equipping robots with robotic arms, fails to achieve true synchronization and coordination between movement and manipulation, and limits the robot's operational efficiency and application scope. Summary of the Invention

[0005] In view of the above problems, this specification is proposed to provide a method for controlling the passage of a quadruped robot through stairs to overcome or at least partially solve the above problems.

[0006] Other features and advantages disclosed in this specification will become apparent from the following detailed description, or may be learned in part by practice of this disclosure.

[0007] This invention provides a method for controlling stair passage for a quadruped robot. The robot includes a main structure, a motion actuator connected to the main structure, and a robotic arm mounted on the main structure. The method includes: Based on the support state formed by the quadruped robot's mobile actuator and the stair steps, a dynamically stable region is constructed within the horizontal support plane; Obtain the position of the center of mass of the entire structure consisting of the main body and the robotic arm; Calculate the positional deviation between the vertical projection point of the centroid position on the horizontal support plane and the geometric center of the dynamically stable region; When the position deviation exceeds the preset safety range, the robotic arm is controlled to adjust its posture so that the center of mass of the whole moves towards the dynamic stable region.

[0008] In one exemplary embodiment of this disclosure, the step of constructing a dynamically stable region within a horizontal support plane based on the support state formed by the quadruped robot's mobile actuator and the stair steps includes: Determine the geometric center position and geometric dimensions of the dynamically stable region on the horizontal support surface; The dynamically stable region is constructed based on the geometric center location and geometric dimension parameters.

[0009] In one exemplary embodiment of this disclosure, determining the geometric center position and geometric dimension parameters of the dynamically stable region on the horizontal support surface includes: The position of the geometric center is determined based on the current support state of the quadruped robot, the pose of the main structure, or a reference point preset according to the motion state. The geometric parameters are calculated based on at least one of the following: the structural dimensions of the quadruped robot, the load mass, the stair slope, and the preset safety margin.

[0010] In one exemplary embodiment of this disclosure, obtaining the position of the center of mass of the entire structure formed by the main body and the robotic arm includes: Under the reference coordinate system fixed to the main structure, the equivalent centroid position of the robotic arm is calculated based on the current posture of the robotic arm; The center of mass position of the entire system is calculated based on the mass parameters of the main structure and the robotic arm, as well as the equivalent center of mass position.

[0011] In one exemplary embodiment of this disclosure, calculating the positional deviation between the vertical projection point of the centroid position on the horizontal support plane and the geometric center of the dynamically stable region includes: Calculate the distance between the vertical projection point and the geometric center of the dynamically stable region to obtain the value of the positional deviation; Calculate the direction vector from the geometric center of the dynamically stable region to the vertical projection point to obtain the direction of the position deviation.

[0012] In one exemplary embodiment of this disclosure, the step of "when the position deviation exceeds a preset safety range" includes: The magnitude of the positional deviation is compared with a first preset threshold and a second preset threshold, wherein the second preset threshold is greater than the first preset threshold; When the magnitude of the positional deviation is greater than the first preset threshold but not greater than the second preset threshold, the whole is determined to be in an unstable state. When the magnitude of the positional deviation is greater than the second preset threshold, the whole is determined to be in an unstable state.

[0013] In one exemplary embodiment of this disclosure, controlling the robotic arm to adjust its own posture so that the center of mass of the entire assembly moves towards the dynamically stable region includes: Based on the direction of the positional deviation, the movement of the robotic arm is controlled so that the equivalent center of mass of the robotic arm moves in the opposite direction to the stated direction.

[0014] This invention treats the main structure and robotic arm as a whole, calculating the overall center of mass position in real time and constructing a dynamically stable region within the horizontal support plane that adapts to the current support state and working conditions. By calculating the positional deviation between the overall center of mass projection and the geometric center of this region, the overall stability state is assessed and graded for early warning. When the deviation exceeds the safe range, an active compensation mechanism based on the deviation direction is triggered: by controlling the robotic arm to adjust its posture, its equivalent center of mass moves in the opposite direction to the deviation, thereby utilizing the robotic arm's adjustable mass distribution to generate an internal compensation torque, actively driving the overall system's center of mass to move back into the stable region. This achieves intelligent and adaptive maintenance of the quadruped robot's motion stability in complex dynamic terrains such as stairs without adding extra hardware or sacrificing the robotic arm's operational functions.

[0015] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this disclosure. Attached Figure Description

[0016] To make the technical problems solved by the present invention, the technical means adopted, and the technical effects achieved clearer, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it should be noted that the drawings described below are merely drawings of exemplary embodiments of the present invention. Those skilled in the art can obtain drawings of other embodiments based on these drawings without any creative effort.

[0017] Figure 1 This is a flowchart illustrating a method for controlling stair passage for a quadruped robot according to an exemplary embodiment.

[0018] Figure 2 This is a schematic diagram of the structure of a quadruped robot according to an exemplary embodiment. Detailed Implementation

[0019] Exemplary embodiments of the invention will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limiting the invention to the embodiments set forth herein. Rather, these exemplary embodiments are provided to make the invention more comprehensive and complete, and to facilitate a full communication of the inventive concept to those skilled in the art. The same reference numerals in the drawings denote the same or similar elements, components, or parts, and therefore repeated descriptions of them will be omitted.

[0020] Subject to the technical concept of this invention, the features, structures, characteristics or other details described in a particular embodiment may be combined in one or more other embodiments in a suitable manner.

[0021] In the description of specific embodiments, the features, structures, characteristics, or other details described in this invention are intended to enable those skilled in the art to fully understand the embodiments. However, it is not excluded that those skilled in the art can practice the technical solutions of this invention without one or more of the specific features, structures, characteristics, or other details.

[0022] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0023] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0024] It should be understood that although terms such as "first," "second," "third," etc., indicating designations, may be used herein to describe various devices, elements, components, or parts, this should not be limited by these terms. These terms are used to distinguish one from another. For example, a first device may also be referred to as a second device without departing from the essential technical solution of this invention.

[0025] The terms “and / or” or “and / or” include any one or more of the listed items in relation to each other.

[0026] This invention provides a method for controlling the movement of a quadruped robot up stairs, addressing the problem of decreased overall stability caused by the movement of the robotic arm when the robot moves up stairs in existing technologies. Existing solutions often rely on locking the robotic arm's posture, sacrificing the robot's functionality.

[0027] To address the above problems, the overall concept of this invention is as follows: A method for controlling stair passage for a quadruped robot, the quadruped robot comprising a main structure, a motion actuator connected to the main structure, and a robotic arm mounted on the main structure, characterized in that the method includes: Based on the support state formed by the quadruped robot's mobile actuator and the stair steps, a dynamically stable region is constructed within the horizontal support plane; Obtain the position of the center of mass of the entire structure consisting of the main body and the robotic arm; Calculate the positional deviation between the vertical projection point of the centroid position on the horizontal support plane and the geometric center of the dynamically stable region; When the position deviation exceeds the preset safety range, the robotic arm is controlled to adjust its posture so that the center of mass of the whole moves towards the dynamic stable region.

[0028] The method in this embodiment effectively suppresses the centroid shift caused by load movement by monitoring the deviation of the overall centroid position relative to the dynamic stable region and controlling the robotic arm to perform posture compensation, thereby fundamentally enhancing the dynamic stability of the quadruped robot in complex terrains such as stairs.

[0029] The technical solution of the present invention will be described and explained in detail below through several specific embodiments.

[0030] Figure 1 A flowchart of a control method according to an embodiment of the present invention is shown. This embodiment applies a quadruped robot. Please refer to... Figure 2 The quadruped robot includes: The main structure 210 is the core supporting mechanism of the robot, which can accommodate the control unit, power supply and various sensors.

[0031] The mobile actuator 220, connected to the main structure 210, typically includes four articulated legs 221. Each leg 221 is composed of multiple actively driven joints connected in series, and its end is provided with a foot 222 for contacting the ground or stair steps.

[0032] A robotic arm 230 is mounted on the main structure 210 (e.g., at the top or front). The robotic arm 230 typically includes multiple links 231 and joints 232 connected between the links 231. Each joint 232 can be driven independently by a motor, thereby making the position and orientation of the end effector 233 of the entire robotic arm 230 and its own center of mass adjustable in space.

[0033] The control unit is configured (or stores program instructions) to execute Figure 1 The control method shown below will be described in detail.

[0034] S110. Based on the support state formed by the quadruped robot through the mobile actuator and the stair steps, a dynamically stable region is constructed in the horizontal support plane.

[0035] This step requires real-time sensing and computation of a key geometric structure used for stability criteria—the dynamically stable region. This involves understanding several core concepts: The support state refers to the actual contact and mechanical support relationship between the feet of the quadruped robot's motion actuators and the stair steps at the current moment. Specifically, it defines which feet are stably touching the ground and providing support, as well as the precise spatial positions of these feet.

[0036] The horizontal support plane refers to a virtual reference plane, which is typically defined as a plane perpendicular to the direction of gravitational acceleration. The construction of the dynamic stability region and the calculation of the centroid projection are all performed within this plane.

[0037] Based on the above definition, step S110 further includes: S111. Determine the geometric center position and geometric dimension parameters of the dynamically stable region on the horizontal support surface.

[0038] The geometric center position is a positioning reference for the dynamically stable region. In an exemplary embodiment of this disclosure, one of the following methods can be selected to determine the position, depending on the specific circumstances: 1. Based on the current support state, calculate the vertical projection points of all foot ends on the horizontal support plane, then calculate the geometric centroid of the polygon formed by these projection points (e.g., the centroid of a triangle), and set this centroid as the geometric center of the dynamically stable region.

[0039] 2. Based on the pose of the main structure. The geometric center is taken as the geometric center by the geometric projection center of the main structure on the horizontal support plane.

[0040] 3. Based on a preset reference point for the motion state. For example, when the robot performs a forward stair-climbing gait, the geometric center position is preset to a point on the horizontal support plane that is offset forward by a fixed distance relative to the projection center of the main structure.

[0041] The geometrical parameters define the size of the dynamically stable region. They are adaptively adjusted based on the robot's real-time operating conditions. Specifically, the geometrical parameters can be calculated based on one or more of the following factors: 1. Robot structural dimensions. Such as the dimensions of the main structure, legs, etc.

[0042] 2. Load Mass. The total mass of the load that the robotic arm and its end effector may hold. Load mass is the primary factor causing the system's center of gravity to shift. The larger the load mass, the smaller the geometric parameters should be set to correspond to more stringent stability criteria.

[0043] 3. Staircase slope. The steeper the slope, the smaller the geometric parameters need to be.

[0044] 4. Preset safety margin. Set according to the mission safety level or movement speed. The larger this value, the smaller the final set geometric parameters should be.

[0045] S112. Construct the dynamic stable region based on the geometric center position and geometric dimension parameters.

[0046] Once the geometric center position and geometric dimension parameters are obtained, a specific dynamic stable region can be constructed on the horizontal support plane.

[0047] In a preferred embodiment, a circular region with the geometric center as the center and the geometric dimension parameter as the radius can be constructed as the dynamic stable region.

[0048] In other embodiments, the region can also be constructed as an elliptical, annular, or other regular geometric shape. This region represents the safe space that ensures the quadruped robot remains stable and does not tip over at the current moment. The robot is stable if its center of mass projection falls within this region, but risks tipping over if it goes beyond the boundary.

[0049] S120. Obtain the position of the center of mass of the whole consisting of the main structure and the robotic arm.

[0050] This step aims to obtain the center of mass position of the entire system consisting of the main structure and the robotic arm in real time and accurately. This is the basis for subsequent stability assessment and active compensation.

[0051] Step S120 further includes: S121. Under the reference coordinate system fixed to the main structure, calculate the equivalent centroid position of the robotic arm according to the current posture of the robotic arm.

[0052] First, establish a fixed reference coordinate system.

[0053] A fixed reference coordinate system is defined on the main structure. This reference coordinate system has no relative motion with the main structure. Its origin is usually set at the geometric center, centroid, or a preset reference point of the main structure, and its coordinate axes are aligned with the orientation of the main structure (e.g., the X-axis points in the robot's forward direction, and the Z-axis points upwards on the main structure). Under this coordinate system, the position of the centroid of the main structure is fixed and known.

[0054] Secondly, calculate the equivalent centroid position of the robotic arm.

[0055] The current posture of the robotic arm is determined by the real-time angles or displacements of each joint. The calculation also requires the use of pre-calibrated mass parameters of the robotic arm, including the length and mass of each link, which are stored as constants in the control unit.

[0056] Based on this current posture and the pre-calibrated mass parameters of the robotic arm, the position of the robotic arm's equivalent center of mass in the reference coordinate system is calculated. This involves two stages: 1. Calculate the coordinates of the center of mass of each link in the reference coordinate system.

[0057] By using forward kinematics, the known position of the center of mass of each link in its own coordinate system is transformed to the reference coordinate system, thus obtaining the coordinates of the center of mass of each link in the reference coordinate system.

[0058] 2. The coordinates of the equivalent centroid of the synthetic robotic arm in the reference coordinate system.

[0059] After obtaining the coordinates of the centroids of all links, a mass-weighted average is performed on these coordinate vectors, using the mass of each link as the weight. That is, first, the mass of each link is multiplied by its coordinate vector, then all the weighted vectors are added together, and finally the sum is divided by the total mass of the robotic arm. The resulting three-dimensional vector is the position of the equivalent centroid of the robotic arm in the reference coordinate system.

[0060] S122. Calculate the center of mass position of the whole based on the mass parameters of the main structure and the robotic arm, as well as the equivalent center of mass position.

[0061] The mass parameters of the main structure include its weight and center of mass position. These can be stored as pre-calibrated constants in the control unit. The total mass of the robotic arm is the sum of the masses of all links (including the end load), which is constant. The equivalent center of mass position of the robotic arm is calculated in real time by step S121.

[0062] The coordinates of the center of mass of the entire system in the reference coordinate system can be calculated using the principle of mass averaging. The process is as follows: 1. Calculate the product of the mass of the main structure and its centroid coordinates, and the product of the total mass of the robotic arm and its equivalent centroid coordinates.

[0063] 2. Add the two product vectors to obtain the composite vector.

[0064] 3. Divide each component of the composite vector by the total mass of the whole. This yields a set of three-dimensional coordinate vectors, which are the centroid coordinates of the whole in the reference coordinate system.

[0065] S130. Calculate the positional deviation between the vertical projection point of the centroid position on the horizontal support plane and the geometric center of the dynamic stable region.

[0066] This step is used to assess the degree of deviation of the current global center of mass position relative to the dynamically stable region. For geometric calculations, the vertical projection point of the center of mass and the geometric center of the stable region must be expressed in the same two-dimensional reference frame within the horizontal support plane. The following calculations are based on this premise.

[0067] S131. Calculate the distance between the vertical projection point and the geometric center of the dynamic stable region to obtain the value of the position deviation.

[0068] The overall centroid position obtained in step S120 is vertically projected onto the horizontal support plane to obtain the vertical projection point of the centroid, and its two-dimensional coordinates in the two-dimensional reference system are determined, denoted as . = ( , ).

[0069] The geometric center of the dynamically stable region obtained in step S111 is represented in the same two-dimensional reference frame as the horizontal support plane, and its two-dimensional coordinates are obtained, denoted as c = ( , ).

[0070] Based on the coordinates of the two points mentioned above, calculate the value of the positional deviation d: Among them, symbols This indicates the calculation of the Euclidean norm of a vector (i.e., the length of the vector).

[0071] S132. Calculate the direction vector from the geometric center of the dynamic stable region to the vertical projection point to obtain the direction e of the position deviation.

[0072] = ( , ) The components of the direction vector e have clear physical meanings, and their signs directly indicate the deviation of the centroid projection from the center of the stable region: X-axis direction: like >0 indicates that the centroid projection is located in the positive X direction of the geometric center (e.g., in front of the robot's body coordinate system).

[0073] like If <0, it indicates that it is located in the negative X direction (e.g., behind).

[0074] Y-axis direction: If > 0, it indicates being in the positive Y direction (e.g., the left side).

[0075] If < 0, it indicates being in the negative Y direction (e.g., the right side).

[0076] S140. When the position deviation exceeds the preset safety range, control the robotic arm to adjust its own posture so that the centroid position of the whole moves into the dynamic stability region.

[0077] This step is the decision-making and execution link of the control logic. Its core is to evaluate the overall stability level based on the position deviation and actively drive the robotic arm for compensation when necessary to restore and maintain system stability.

[0078] The step S140 includes: S141. Based on the position deviation, determine the stable state of the whole.

[0079] In step S141, the deviation value d calculated in step S131 is compared with two preset values to conduct a hierarchical judgment on the overall state; Set the first preset threshold , the second preset threshold , where < . The first preset threshold and the second preset threshold can be set according to the geometric dimension parameters of the dynamic stability region determined in step S111.

[0080] The state determination rules are as follows: When d ≤ R1, it is determined that the whole is in a stable state. At this time, the centroid projection of the whole is fully located within the stable region, the system has sufficient stability margin, and the robotic arm can freely execute operation tasks without stability compensation.

[0081] When R1 < d ≤ R2, it is determined that the whole is in a sub-stable state. This indicates that the centroid projection of the whole has deviated from the ideal center and entered the warning region, the stability margin is insufficient, and there is a risk of instability, so the compensation mechanism needs to be triggered immediately.

[0082] When d > R2, it is determined that the whole is in an unstable state. This indicates that the centroid projection has extremely approached or exceeded the boundary of the stable region, and the system is on the verge of tipping over. At this time, in addition to possibly triggering the maximum capacity compensation of the robotic arm, usually more advanced safety strategies (such as emergency stop, reducing the movement speed, etc.) need to be started synchronously.

[0083] According to the above rules, when the system is determined to be in an unstable or indeterminate state, it means that the position deviation has exceeded the preset safety range, and the subsequent compensation or safety handling process will be initiated.

[0084] S142. Perform robotic arm orientation compensation in an unstable state.

[0085] When the state is determined to be understability or unstable, this sub-step is executed. Its goal is to actively and quickly pull the overall center of mass back to the dynamic stable region by adjusting the posture of the robotic arm.

[0086] The direction of compensation is determined by the position deviation direction vector e calculated in step S132. To move the overall centroid towards the center of the stable region, it is necessary to drive the overall centroid along... Movement in the e direction.

[0087] After a compensation action is performed, the control unit can return to step S120 to reacquire the latest overall centroid position and perform deviation calculation (step S130) and state judgment (step S141) again. If the system returns to stability, the current robotic arm posture is maintained; if it is still in an unstable state, compensation can be performed iteratively. This closed-loop control ensures the continuous and dynamic maintenance of system stability throughout the entire stair passage process.

[0088] The above method enables the present invention to achieve the following technical effects: This invention discloses a method for controlling stair passage of a quadruped robot equipped with a robotic arm. The method treats the main structure and robotic arm as a whole, calculating the overall center of mass position in real time and constructing a dynamically stable region within the horizontal support plane that adapts to the current support state and working conditions. By calculating the positional deviation between the overall center of mass projection and the geometric center of this region, the overall stability state is assessed and graded for early warning. When the deviation exceeds the safe range, an active compensation mechanism based on the deviation direction is triggered: by controlling the robotic arm to adjust its posture, its equivalent center of mass moves in the opposite direction to the deviation, thereby utilizing the robotic arm's adjustable mass distribution to generate an internal compensation torque, actively driving the overall system's center of mass back into the stable region. This achieves intelligent and adaptive maintenance of the quadruped robot's motion stability in complex dynamic terrains such as stairs without adding extra hardware or sacrificing the robotic arm's operational functions.

[0089] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the present invention is not inherently related to any specific computer, virtual device, or electronic device, and various general-purpose devices can also implement the present invention. The above descriptions are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for controlling stair passage for a quadruped robot, the quadruped robot comprising a main structure, a motion actuator connected to the main structure, and a robotic arm mounted on the main structure, characterized in that, The method includes: Based on the support state formed by the quadruped robot's mobile actuator and the stair steps, a dynamically stable region is constructed within the horizontal support plane; Obtain the position of the center of mass of the entire structure consisting of the main body and the robotic arm; Calculate the positional deviation between the vertical projection point of the centroid position on the horizontal support plane and the geometric center of the dynamically stable region; When the position deviation exceeds the preset safety range, the robotic arm is controlled to adjust its posture so that the center of mass of the whole moves towards the dynamic stable region.

2. The method according to claim 1, characterized in that, The construction of a dynamically stable region within the horizontal support plane based on the support state formed by the quadruped robot's mobile actuator and the stair steps includes: Determine the geometric center position and geometric dimensions of the dynamically stable region on the horizontal support surface; The dynamically stable region is constructed based on the geometric center location and geometric dimension parameters.

3. The method according to claim 2, characterized in that, Determining the geometric center position and geometric dimensional parameters of the dynamically stable region on the horizontal support surface includes: The position of the geometric center is determined based on the current support state of the quadruped robot, the pose of the main structure, or a reference point preset according to the motion state. The geometric parameters are calculated based on at least one of the following: the structural dimensions of the quadruped robot, the load mass, the stair slope, and the preset safety margin.

4. The method according to claim 1, characterized in that, The step of obtaining the position of the center of mass of the whole consisting of the main structure and the robotic arm includes: Under the reference coordinate system fixed to the main structure, the equivalent centroid position of the robotic arm is calculated based on the current posture of the robotic arm; The center of mass position of the entire system is calculated based on the mass parameters of the main structure and the robotic arm, as well as the equivalent center of mass position.

5. The method according to claim 5, characterized in that, The calculation of the positional deviation between the vertical projection point of the centroid position on the horizontal support plane and the center of the dynamically stable region includes: Calculate the distance between the vertical projection point and the geometric center of the dynamically stable region to obtain the value of the positional deviation; Calculate the direction vector from the geometric center of the dynamically stable region to the vertical projection point to obtain the direction of the position deviation.

6. The method according to claim 5, characterized in that, When the position deviation exceeds the preset safety range, it includes: The magnitude of the positional deviation is compared with a first preset threshold and a second preset threshold, wherein the second preset threshold is greater than the first preset threshold; When the magnitude of the positional deviation is greater than the first preset threshold but not greater than the second preset threshold, the whole is determined to be in an unstable state. When the magnitude of the positional deviation is greater than the second preset threshold, the whole is determined to be in an unstable state.

7. The method according to claim 5, characterized in that, The control of the robotic arm to adjust its own posture, so that the center of mass of the whole moves towards the dynamically stable region, includes: Based on the direction of the positional deviation, the movement of the robotic arm is controlled so that the equivalent center of mass of the robotic arm moves in the opposite direction to the stated direction.

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