一种基于语言指令的足式机器人控制方法、装置及设备

By constructing a structured world representation and task planning, the problem of legged robots' inability to respond to complex natural language commands was solved, and the robot was able to perform tasks with high reliability in open environments.

CN122197955BActive Publication Date: 2026-07-17HARBIN INSTITUTE OF TECHNOLOGY (SHENZHEN) (INSTITUTE OF SCIENCE AND TECHNOLOGY INNOVATION HARBIN INSTITUTE OF TECHNOLOGY SHENZHEN)
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
HARBIN INSTITUTE OF TECHNOLOGY (SHENZHEN) (INSTITUTE OF SCIENCE AND TECHNOLOGY INNOVATION HARBIN INSTITUTE OF TECHNOLOGY SHENZHEN)
Filing Date
2026-05-14
Publication Date
2026-07-17

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Abstract

本发明提供了一种基于语言指令的足式机器人控制方法、装置及设备，涉及机器人控制技术领域，该基于语言指令的足式机器人控制方法包括：根据获取的用户语言指令和足式机器人采集的环境感知数据通过数据融合构建结构化世界表示；根据用户语言指令通过语义约束抽取得到约束候选集合；根据用户语言指令通过对象抽取得到对应的引用对象候选集合；基于结构化世界表示，根据引用对象候选集合通过实体匹配得到对应的指代集合；基于预设技能库，根据指代集合和约束候选集合通过任务规划得到可执行计划；根据可执行计划通过轨迹映射得到足式机器人对应的控制参考集合。本发明能够有效提高足式机器人任务执行的可靠性。
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