Robot and robot control method

Abstract

The application discloses a robot and a robot control method, and relates to the field of robots. The robot comprises a body and leg mechanisms. The leg mechanisms comprise first and second leg mechanisms located on both sides of the body, and the first and second leg mechanisms are movable relative to the body. The method comprises the following steps: confirming that the robot is in a falling state; controlling the leg mechanisms to exert a first angular momentum corresponding to the falling direction of the robot, so that the robot is switched to a state in which the included angle between the vertical center line and the ground gradually approaches perpendicular; and then controlling the leg mechanisms to support standing. The method is used for the autonomous standing of the robot after falling, and can improve the efficiency of the standing after falling.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a robot and a robot control method. Background Technology

[0002] With the rapid development of robotics technology, robots are now widely used in industries such as manufacturing, healthcare, and home services. However, when performing tasks in complex environments, robots are prone to tipping over due to external interference or internal malfunctions. Traditionally, when a robot falls, it typically relies on external intervention or on actions determined by pre-trained learning algorithms and models to get up.

[0003] However, when a robot performs a standing motion based on pre-trained learning algorithms and model training, it often performs poorly in postures that appear easy for humans to stand up, due to the robot's lack of overall posture perception. This results in inefficient standing processes and may even lead to a second fall.

[0004] Therefore, optimizing the standing motion to make it easier for robots to stand up and improve the efficiency of the standing process has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] This application provides a robot and a robot control method, which aims to improve the efficiency of the robot in getting up after falling and solve the technical problem of the difficulty of the robot getting up after falling.

[0006] In a first aspect, this application provides a robot, which includes at least a body and a leg mechanism. The leg mechanism includes a first leg mechanism connected to a first side of the body and a second leg mechanism connected to a second side of the body, and both the first leg mechanism and the second leg mechanism are capable of moving relative to the body. The leg mechanism is configured to apply a first angular momentum corresponding to the direction of the robot's fall to the robot in the fall state, so as to switch the robot to the upright state, wherein, during the process of the robot switching from the fall state to the upright state, the angle between the robot's vertical center line and the ground gradually approaches perpendicularity. The leg mechanism is also configured to support the robot in an upright position while it stands.

[0007] In some implementations, the robot performs a push-off action at least through a near-ground leg mechanism to apply a first angular momentum to the robot corresponding to the direction of the fall. The near-ground leg mechanism is the leg mechanism corresponding to the direction of the fall among the first leg mechanism and the second leg mechanism.

[0008] In some implementations, the first angular momentum is the vector summation of the angular momentum provided by the action of the first leg mechanism and the angular momentum provided by the second leg mechanism.

[0009] In some implementations, the leg mechanism applies a first angular momentum to the robot corresponding to the robot's falling direction, including: The first leg mechanism and the second leg mechanism both perform a push-off action, so that the combined angular momentum provided by the first leg mechanism and the second leg mechanism applies a first angular momentum to the robot. The angular momentum provided by the near-ground leg mechanism in the first and second leg mechanisms is greater than that of the other leg mechanism. Alternatively, only the near-ground leg mechanism in the first and second leg mechanisms can be controlled to perform a single-leg push-off action, so that the single-leg push-off action applies the first angular momentum to the robot. Among them, the near-ground leg mechanism is the leg mechanism corresponding to the falling direction in the first leg mechanism and the second leg mechanism.

[0010] In some embodiments, the first leg mechanism includes a first upper leg assembly, a first lower leg assembly, and a first elastic component. The first upper leg assembly is connected to the body, and the first lower leg assembly is movably connected to the first upper leg assembly and can be retracted or extended relative to the first upper leg assembly. When the first lower leg assembly retracts relative to the first upper leg assembly, the first elastic component elastically stores force. When the first leg mechanism performs a push-off action, the first elastic component provides at least part of the push-off force. And / or, when the angular momentum required by the first leg mechanism is greater than the angular momentum threshold, the push-off action performed by the first leg mechanism includes: the first lower leg assembly performing a first retraction action relative to the first upper leg assembly, and after the first retraction action, the first lower leg assembly performing a first extension action relative to the first upper leg assembly and pushing off the ground.

[0011] In some embodiments, the second leg mechanism includes a second upper leg assembly, a second lower leg assembly, and a second elastic component. The second upper leg assembly is connected to the main body, and the second lower leg assembly is movably connected to the second upper leg assembly and can be retracted or extended relative to the second upper leg assembly. When the second lower leg assembly retracts relative to the second upper leg assembly, the second elastic component elastically stores force. When the second leg mechanism performs a push-off action, the second elastic component provides at least a portion of the push-off force. And / or, when the angular momentum required by the second leg mechanism is greater than an angular momentum threshold, the push-off action performed by the second leg mechanism includes: the second lower leg assembly performing a second retraction action relative to the second upper leg assembly, and after the second retraction action, the second lower leg assembly performing a second extension action relative to the second upper leg assembly and pushing off the ground.

[0012] In some implementations, the robot performs a retraction action at least through a remote leg mechanism to apply a first angular momentum to the robot corresponding to the direction of the fall, wherein the remote leg mechanism is the leg mechanism of the first leg mechanism and the second leg mechanism that is opposite to the direction of the fall.

[0013] In some embodiments, the first leg mechanism includes a first upper leg assembly and a first lower leg assembly, the first upper leg assembly being connected to the body and the first lower leg assembly being movably connected to the first upper leg assembly; when the first leg mechanism is a remote leg mechanism, the retraction action of the remote leg mechanism includes: the first lower leg assembly retracting relative to the first upper leg assembly; and / or, the first leg mechanism retracting relative to the body.

[0014] In some embodiments, the second leg mechanism includes a second upper leg assembly and a second lower leg assembly, the second upper leg assembly being connected to the body and the second lower leg assembly being movably connected to the second upper leg assembly; when the second leg mechanism is a remote leg mechanism, the retraction action of the remote leg mechanism includes: the second lower leg assembly retracting relative to the second upper leg assembly; and / or, the second leg mechanism retracting relative to the body.

[0015] In some embodiments, retracting the first leg mechanism relative to the body includes: rotating the first leg mechanism relative to the body to a first retracted state, in which the first lower leg assembly is located on the side of the first upper leg assembly near the top of the body.

[0016] In some embodiments, retracting the second leg mechanism relative to the body includes: rotating the second leg mechanism relative to the body to a second retracted state, in which the second lower leg assembly is located on the side of the second upper leg assembly near the top of the body.

[0017] In some implementations, the robot also includes a head mechanism movably connected to the top of the body. When the robot is in a tipped-over state, the head mechanism is controlled to perform an attitude adjustment action to switch the robot from a tipped-over state to a side-lying state.

[0018] In some embodiments, the robot also includes a head mechanism connected to the top of the body, with a guide on the side of the head mechanism away from the body, the guide being configured to guide the robot into a sideways position when the robot falls over.

[0019] In some implementations, the robot also includes a controller, which is used for: Confirm that the robot is in a fallen position; The control leg mechanism applies a first angular momentum to the robot corresponding to the direction of the robot's fall, so that the robot switches to a righting state. During the process of the robot switching from a side-falling state to a righting state, the robot's vertical center line gradually approaches perpendicularity to the ground. The control leg mechanism supports the robot in standing.

[0020] Secondly, this application also provides a robot control method, applied to any of the embodiments described in the first aspect, the method comprising: Confirm that the robot is in a fallen position; The control leg mechanism applies a first angular momentum to the robot corresponding to the direction of the robot's fall, so that the robot switches to a righting state. During the process of the robot switching from the fall state to the righting state, the robot's vertical center line gradually approaches perpendicularity to the ground. The control leg mechanism supports the robot in standing.

[0021] The robot provided in this application consists of a main body and leg mechanisms connected to both sides of the main body. The leg mechanisms are movable relative to the main body. When the robot is in a fallen state, its near-ground leg mechanisms can apply a first angular momentum corresponding to the direction of the robot's fall to the robot by performing a pushing or retracting action. This allows the robot to switch from a fallen state to a righted state by using gravitational torque. Thus, the getting-up action no longer depends solely on an abstract angular momentum target, but corresponds to the direction of the fall and the position of the left and right legs, which can improve the efficiency of getting up from a fall and the stability of control.

[0022] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the disclosure of the embodiments of this application. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 A schematic diagram of the structure of a robot provided in an embodiment of this application; Figure 2 A cross-sectional schematic diagram of a robot provided in an embodiment of this application; Figure 3 A schematic diagram of a robot module provided for an embodiment of this application; Figure 4 A schematic diagram of the structure of a first leg mechanism and a second leg mechanism of a robot provided in an embodiment of this application; Figure 5 A schematic diagram illustrating at least a portion of the movable range of a robot's leg mechanism, provided as an embodiment of this application; Figure 6 This is a flowchart illustrating the steps of a robot control method provided in an embodiment of this application; Figure 7 A schematic diagram illustrating a scenario where a robot is in a fallen state, provided as an embodiment of this application; Figure 8A schematic diagram illustrating how a robot's leg mechanism applies a first angular momentum to the robot by pushing off the ground, as provided in an embodiment of this application. Figure 9 A schematic diagram illustrating another scenario where a robot is in a fallen state, provided as an embodiment of this application; Figure 10 A schematic diagram illustrating how a robot's leg mechanism applies a first angular momentum to the robot by retracting its legs, as provided in an embodiment of this application. Figure 11 This is a schematic diagram of a robot that is aligned by retracting its legs, as provided in an embodiment of this application.

[0025] Reference numerals: 100, robot; 10, body; 20, leg mechanism; 21, first leg mechanism; 211, first upper leg assembly; 212, first lower leg assembly; 213, first elastic component; 22, second leg mechanism; 221, second upper leg assembly; 222, second lower leg assembly; 223, second elastic component; 30, head mechanism; 31, guide; 40, vertical centerline; 50, first side; 60, second side; 70, controller; P1, first foothold; P2, second foothold; J0, first angular momentum; J1, first leg angular momentum; J2, second leg angular momentum. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] With the rapid development of robotics technology, robots are now widely used in industries such as manufacturing, healthcare, and home services. However, when performing tasks in complex environments, robots are prone to tipping over due to external interference or internal malfunctions. Traditionally, when a robot falls, it typically relies on external intervention or on actions determined by pre-trained learning algorithms and models to get up.

[0028] However, when a robot performs a standing motion based on pre-trained learning algorithms and model training, it often performs poorly in postures that appear easy for humans to stand up, due to the robot's lack of overall posture perception. This results in inefficient standing processes and may even lead to a second fall.

[0029] Therefore, optimizing the standing motion to make it easier for robots to stand up and improve the efficiency of the standing process has become a technical problem that urgently needs to be solved in this field.

[0030] Based on this, this application provides a robot and a robot control method, aiming to improve the robot's efficiency in getting up after falling and enable the robot to adapt to getting up in different scenarios, thus solving the technical problem of difficulty in getting up after falling.

[0031] Please see Figures 1 to 3 , Figure 1 This is a schematic diagram of the structure of a robot 100 provided in an embodiment of this application. Figure 2 This is a cross-sectional schematic diagram of a robot 100 provided in an embodiment of this application. Figure 3 This is a schematic diagram of a robot 100 provided in an embodiment of this application.

[0032] like Figures 1 to 3 As shown, a robot 100 provided in this application embodiment will be described first. The robot 100 includes at least a body 10 and a leg mechanism 20. The body 10 has a first side 50 and a second side 60 opposite to each other. The leg mechanism 20 includes a first leg mechanism 21 connected to the first side 50 of the body 10 and a second leg mechanism 22 connected to the second side 60 of the body 10, and both the first leg mechanism 21 and the second leg mechanism 22 are movable relative to the body 10.

[0033] As an example, robot 100 is a bipedal robot. In some examples, when robot 100 is standing, the projection of robot 100's center of gravity onto the ground lies on the line connecting the footing of the first leg mechanism 21 and the footing of the second leg mechanism 22 on the ground.

[0034] Typically, but not limitingly, when robot 100 is standing on the ground, the vertical centerline 40 is perpendicular or substantially perpendicular to the ground.

[0035] It should be noted that the term "basic" in this application refers to an angular deviation of less than or equal to 30 degrees. For example, "basically parallel" and "basically perpendicular" both follow this definition, and will not be elaborated further hereafter.

[0036] Please see Figure 4 , Figure 4 This is a schematic diagram of the structure of a first leg mechanism 21 and a second leg mechanism 22 of a robot provided in an embodiment of this application. Typically, but not limitingly, in this embodiment, the robot 100 has only the first leg mechanism 21 and the second leg mechanism 22 as its leg mechanism 20, that is, the robot 100 in this embodiment is a bipedal robot.

[0037] By way of example and not limitation, the leg mechanism 20 of robot 100 is at least used to support the body 10 in performing standing actions. Furthermore, the leg mechanism 20 of robot 100 can also move relative to the body 10 to perform other actions such as walking, jumping, turning, and squatting.

[0038] In some embodiments, a single leg mechanism 20 includes at least an upper leg assembly and a lower leg assembly. One end of the upper leg assembly is movably connected to the body 10, and the other end is movably connected to the lower leg assembly. The lower leg assembly is movable relative to the upper leg assembly. For example, the upper leg refers to the first upper leg assembly 211 and the second upper leg assembly 221, and the lower leg refers to the first lower leg assembly 212 and the second lower leg assembly 222.

[0039] Specifically, the first leg mechanism 21 includes a first upper leg assembly 211 and a first lower leg assembly 212. One end of the first upper leg assembly 211 is connected to the body 10, and the other end is connected to the first lower leg assembly 212. The first upper leg assembly 211 can rotate relative to the body 10, and the first lower leg assembly 212 can rotate relative to the first upper leg assembly 211 to retract or extend the first leg mechanism 21. The second leg mechanism 22 includes a second upper leg assembly 221 and a second lower leg assembly 222. One end of the second upper leg assembly 221 is connected to the body 10, and the other end is connected to the second lower leg assembly 222. The second upper leg assembly 221 can rotate relative to the body 10, and the second lower leg assembly 222 can rotate relative to the second upper leg assembly 221 to retract or extend the second leg mechanism 22.

[0040] Please see Figure 5 , Figure 5 This is a schematic diagram illustrating at least a portion of the movable range of a leg mechanism 20 of a robot 100 provided in an embodiment of this application. Figure 5 In the diagram, region A is at least a portion of the movable range of the first leg mechanism 21, and region B is at least a portion of the movable range of the second leg mechanism 22.

[0041] It should be noted that one end of the upper leg assembly is movably connected to the main body 10, and the other end is movably connected to the lower leg assembly. The lower leg assembly can move relative to the upper leg assembly to switch the leg mechanism 20 to extended, curled, or partially curled.

[0042] As one embodiment, region A illustrates only the range of motion of the first leg mechanism 21 relative to the body 10 when the first leg mechanism 21 is partially retracted, and region B illustrates only the range of motion of the second leg mechanism 22 relative to the body 10 when the second leg mechanism 22 is partially retracted. It should be understood that when the first leg mechanism 21 is extended, its range of motion relative to the body 10 is greater than that in region A; and when the second leg mechanism 22 is extended, its range of motion relative to the body 10 is greater than that in region B.

[0043] In some embodiments, the first leg mechanism 21 further includes a first elastic component 213, which is connected to the first upper leg component 211 and the first lower leg component 212. The first elastic component 213 elastically stores force when the first lower leg component 212 retracts relative to the first upper leg component 211. As one embodiment, the pushing-off action of the first leg mechanism 21 includes: the first lower leg component 212 retracting relative to the first upper leg component 211; and after the first retraction action, the first lower leg component 212 extending relative to the first upper leg component 211 and pushing off the ground.

[0044] In some embodiments, the second leg mechanism 22 further includes a second elastic component 223, which is connected to the second upper leg component 221 and the second lower leg component 222. The second elastic component 223 elastically stores force when the second lower leg component 222 retracts relative to the second upper leg component 221. As one embodiment, the push-off action of the second leg mechanism 22 includes: the second lower leg component 222 performing a second retraction action relative to the second upper leg component 221; and after the second retraction action, the second lower leg component 222 performing a second extension action relative to the second upper leg component 221 and pushing off the ground.

[0045] As an example, the first elastic component 213 is, for example, a torsion spring or a spring connected between the first upper leg component 211 and the first lower leg component 212. When the first lower leg component 212 is retracted relative to the first upper leg component 211, the first elastic component 213 undergoes elastic deformation. The second elastic component 223 is, for example, a torsion spring or a spring connected between the second upper leg component 221 and the second lower leg component 222. When the second lower leg component 222 is retracted relative to the second upper leg component 221, the second elastic component 223 undergoes elastic deformation.

[0046] In some embodiments, the first leg mechanism 21 is rotatable relative to the body 10 to a first retracted state, in which the first lower leg assembly 212 is located on the side of the first upper leg assembly 211 near the top of the body 10.

[0047] In some embodiments, the second leg mechanism 22 is rotatable relative to the body 10 to a second retracted state, in which the second lower leg assembly 222 is located on the side of the second upper leg assembly 221 near the top of the body 10.

[0048] In some embodiments, the second leg mechanism 22 is rotatable relative to the body 10 to a second retracted state, in which the second lower leg assembly 222 is located on the side of the second upper leg assembly 221 near the top of the body 10.

[0049] It should be noted that by rotating the first leg mechanism 21, the first lower leg assembly 212 can be stored in the side of the first upper leg assembly 211 near the top of the body 10, and by rotating the second leg mechanism 22, the second lower leg assembly 222 can be stored in the side of the second upper leg assembly 221 near the top of the body 10, thereby reducing the distance between the bottom side of the body 10 and the ground.

[0050] The robot provided in this application consists of a main body and leg mechanisms connected to both sides of the main body. The leg mechanisms are movable relative to the main body. When the robot is in a fallen state, its near-ground leg mechanisms can apply a first angular momentum corresponding to the direction of the robot's fall to the robot by performing a pushing or retracting action. This allows the robot to switch from a fallen state to a righted state by using gravitational torque. Thus, the getting-up action no longer depends solely on an abstract angular momentum target, but corresponds to the direction of the fall and the position of the left and right legs, which can improve the efficiency of getting up from a fall and the stability of control.

[0051] Optionally, the first angular momentum can support the leg mechanism 20 to push off the ground and stand up.

[0052] For example, the first angular momentum can be determined by the control strategy based on information such as the robot's current posture, falling direction, and leg status, or it can be naturally generated through actions such as pushing off the ground by the near-ground leg mechanism or differential pushing off the ground by both legs.

[0053] like Figure 3 As shown, in some embodiments, the robot 100 further includes a controller 70, which is at least communicatively connected to the leg mechanism 20 and is used to control the movement of the leg mechanism 20 relative to the body 10. For example, the controller 70 is disposed on the body 10. Furthermore, the controller 70 is also used to control the first lower leg assembly 212 to unfold or retract relative to the first upper leg assembly 211, and to control the second lower leg assembly 222 to unfold or retract relative to the second upper leg assembly 221.

[0054] Specifically, the controller 70 is used at least to: confirm that the robot 100 is in a fallen state; control the leg mechanism 20 to apply a first angular momentum J0 to the robot 100 corresponding to the falling direction of the robot 100, so that the robot 100 switches to a straightening state, and during the process of the robot 100 switching from a side-falling state to a straightening state, the vertical center line 40 gradually approaches perpendicularity to the ground; and control the leg mechanism 20 to support the robot 100 to stand up.

[0055] It should be noted that the various actions of the robot 100 and the robot control methods disclosed in this application specification also include the schemes implemented by the controller 70.

[0056] Based on the robot 100 provided above in this application, a robot control method provided in the embodiments of this application will be described. It should be noted that the robot control method can be applied to the aforementioned robot 100, but is not limited to the aforementioned robot 100.

[0057] Please see Figure 6 , Figure 6 This is a flowchart illustrating the steps of a robot control method provided in an embodiment of this application. Specifically, the robot control method includes steps S1 to S3: Step S1: Confirm that robot 100 is in a fallen state; Step S2: Control the leg mechanism 20 to apply a first angular momentum J0 to the robot 100 corresponding to the falling direction of the robot 100, so that the robot 100 switches to the upright state. During the process of the robot 100 switching from the side-falling state to the upright state, the vertical center line 40 gradually approaches perpendicularity to the ground. Step S3: Control the leg mechanism 20 to support the robot 100 to stand.

[0058] like Figure 7 As shown, specifically, the falling state of robot 100 includes at least a side-falling state, which means that robot 100 falls to the side of a first side 50 or a second side 60. In some embodiments, in the side-falling state, the first side 50 or the second side 60 of robot 100 is in contact with the ground. Specifically, as... Figure 7 As shown in (a), when the robot 100 tilts to the first side 50, the first side 50 of the body 10 and the first leg mechanism 21 contact the ground, as shown in (a). Figure 7 As shown in (b), when the robot 100 tilts to the side of the second side 60, the second side 60 of the body 10 and the second leg mechanism 22 contact the ground.

[0059] In this application, the falling direction can be used to represent the side of the robot 100 closest to the ground when it is in a sideways state. For example, when the robot 100 falls to the first side 50, the falling direction is the first side 50, the first leg mechanism 21 is the near-ground leg mechanism, and the second leg mechanism 22 is the far-ground leg mechanism; when the robot 100 falls to the second side 60, the falling direction is the second side 60, the second leg mechanism 22 is the near-ground leg mechanism, and the first leg mechanism 21 is the far-ground leg mechanism. The near-ground leg mechanism is used to directly generate angular momentum in the correcting direction by pushing off the ground, and the far-ground leg mechanism is used to bring the bottom of the body 10 close to or in contact with the ground by retracting, and to assist in correcting by using gravitational torque.

[0060] Furthermore, the falling states of robot 100 also include forward falling, backward falling, and overturned states. It should be noted that the overturned state refers to the top of robot 100 contacting the ground, specifically including the head mechanism 30 of robot 100 contacting the ground or both the body 10 and the head mechanism 30 contacting the ground.

[0061] like Figure 8 As shown, the forward-falling state refers to the robot 100 falling to the ground on its front side in the forward direction. For example, when the robot 100 is in the forward-falling state, the front side of the robot 100 lands on the ground in the forward direction. The backward-falling state refers to the robot 100 falling to the ground on its rear side in the forward direction. For example, when the robot 100 is in the backward-falling state, the rear side of the robot 100 lands on the ground in the forward direction.

[0062] When it is determined that the robot 100 is in a side-falling state, the falling direction of the robot 100 is first determined, and then the leg mechanism 20 is controlled to apply a first angular momentum J0 corresponding to the falling direction of the robot 100, so that the robot 100 switches to a righting state. Specifically, when the robot 100 is in a side-falling state, the centerline 40 of the robot 100 is perpendicular to the ground. Figure 9 As shown in α, when the robot 100 is in the upright position, the vertical center line 40 of the robot 100 is perpendicular or substantially perpendicular to the ground.

[0063] For example, the leg mechanism 20 can apply the first angular momentum J0 to the robot 100 by performing a target action corresponding to the falling direction. The target action includes the near-ground leg mechanism performing a push-off action, the far-ground leg mechanism performing a retraction action, or a combination of the near-ground leg mechanism pushing off and the far-ground leg mechanism retracting.

[0064] It should be noted that the first angular momentum J0 is the angular momentum with the center of gravity of the robot 100 as the origin. The magnitude and direction of the first angular momentum J0 are configured such that when applied to the robot 100, it causes the robot 100 to switch from a tilted state to a righted state. For example, the magnitude and direction of the angular momentum can be generated based on information such as the mass of the robot 100, its body structure, the direction of falling, the relative positions of the near-ground and far-ground leg mechanisms, and the current deployment degree of the leg mechanism 20.

[0065] Specifically, after the robot 100 switches to the upright state, the bottom of the robot 100 body 10 contacts the ground, and / or the leg mechanism 20 contacts the ground and the leg mechanism 20 is in a partially curled state.

[0066] The bottom of the body 10 touching the ground can be the result of the remote leg mechanism being retracted; the leg mechanism 20 being in a partially curled state can be to preserve the extension stroke required for subsequent support and standing. Thus, the upright state also indicates that the robot 100 has reached a transitional posture in which it can continue to stand with support through the leg mechanism 20.

[0067] Based on this, after the robot 100 switches to the upright state, the control leg mechanism 20 supports the robot 100 to stand up, so that the robot 100 is in a normal standing posture and stands on the ground, which facilitates the robot 100's next action, such as walking, jumping, turning, squatting and other actions.

[0068] In some embodiments, step S3, controlling the leg mechanism 20 to support the robot 100 to stand includes: controlling the leg mechanism 20 to unfold relative to the body 10, and / or controlling the lower leg assembly to unfold relative to the upper leg assembly.

[0069] It should be understood that when robot 100 falls over, because robot 100 does not have the overall posture of a human, its getting-up action is often poor, even for postures that appear easy for a human to stand up from. This leads to inefficient getting-up and may even cause a secondary fall. The solution provided in this application, when robot 100 is in a sideways state, does not merely provide an abstract getting-up target, but determines the near-ground leg mechanism and the far-ground leg mechanism based on the direction of the fall. The near-ground leg mechanism pushes off the ground, the far-ground leg mechanism retracts, or a combination of both generates a first angular momentum J0 corresponding to the righting direction, thereby switching robot 100 to a righting state. Because the control action directly corresponds to the sideways direction, it reduces the risk of secondary falls due to incorrect action selection and improves the efficiency and stability of getting up from a sideways fall.

[0070] On the other hand, since this solution can straighten and stand up the robot 100 by means of the leg mechanism 20 when the robot 100 is in a tilted state, without the need for the assistance of other mechanisms (such as the head mechanism 30 or the hand mechanism), it can effectively simplify the standing process and make the structure of the robot 100 more concise, reducing the size and weight of the robot 100.

[0071] The following provides a more detailed explanation of steps S1 to S3: In some implementations, confirming that the robot 100 is in a fallen state in step S1 may include: determining the fallen state of the robot 100 based on the angle between the vertical centerline 40 and the ground. As one embodiment, when the angle between the centerline 40 and the ground is less than or equal to a first angle threshold, the fallen state of the robot 100 is determined to be a sideways fall.

[0072] As one embodiment, an angle sensor can be installed on the robot 100, and the angle between the vertical center line 40 and the ground can be detected based on the angle sensor.

[0073] In some embodiments, step S2, which involves controlling the leg mechanism 20 to apply a first angular momentum J0 to the robot 100 corresponding to the falling direction of the robot 100, includes: At least control the near-ground leg mechanism to perform a push-off action to apply a first angular momentum J0 corresponding to the falling direction of the robot 100.

[0074] In some embodiments, the first angular momentum J0 is the vector summation of the angular momentum provided by the action of the first leg mechanism 21 and the angular momentum provided by the second leg mechanism 22.

[0075] It should be noted that the near-ground leg mechanism refers to the leg mechanism 20 located on the side closest to the ground when the robot 100 falls to its side. When controlling the near-ground leg mechanism to perform the push-off action, the magnitude and direction of the angular momentum applied to the robot 100 by the push-off force, push-off direction, deployment speed, or contact duration of the near-ground leg mechanism can be adjusted, thereby allowing the near-ground leg mechanism to apply a first angular momentum J0 to the robot 100 corresponding to the falling direction of the robot 100 through the push-off.

[0076] As one embodiment, controlling the near-ground leg mechanism to perform the push-off action can be as follows: controlling both the first leg mechanism 21 and the second leg mechanism 22 to perform the push-off action, so that the combined effect of the angular momentum provided by the first leg mechanism 21 and the angular momentum provided by the second leg mechanism 22 applies a first angular momentum J0 to the robot 100, wherein the angular momentum provided by the near-ground leg mechanism of the first leg mechanism 21 and the second leg mechanism 22 is greater than that of the other leg mechanism. like Figure 8 As shown, for example, the angular momentum provided by the first leg mechanism 21 is the first leg angular momentum J1, and the angular momentum provided by the second leg mechanism 22 is the first leg angular momentum J2. The first angular momentum J0 is the vector composite angular momentum of the first leg angular momentum J1 provided by the action of the first leg mechanism 21 and the second leg angular momentum J2 provided by the second leg mechanism 22.

[0077] Furthermore, when the first leg mechanism 21 is a near-ground leg mechanism, the first leg angular momentum J1 provided by the first leg mechanism 21 is greater than the second leg angular momentum J2 provided by the second leg mechanism 22. Conversely, when the second leg mechanism 22 is a near-ground leg mechanism, the second leg angular momentum J2 provided by the second leg mechanism 22 is greater than the first leg angular momentum J1 provided by the first leg mechanism 21. It should be understood that when the angular momentum corresponding to the near-ground leg mechanism is greater than that corresponding to the far-ground leg mechanism, the two leg mechanisms 20 can coordinate through the vector synthesis of their respective angular momentum to make the robot 100 rotate in the righting direction, thereby enabling the robot 100 to smoothly switch from the side-falling state to the righting state.

[0078] It should be understood that, based on the tilting direction of the robot 100, the near-ground leg mechanism performs the main leg kicking action, which can use the contact reaction force between the near-ground side and the ground to apply the same angular momentum to the robot 100 as the righting direction, thereby quickly and stably switching the robot 100 from the tilting state to the righting state.

[0079] As another embodiment, controlling the near-ground leg mechanism to perform the push-off action can also be: controlling only the near-ground leg mechanism in the first leg mechanism 21 and the second leg mechanism 22 to perform the single-leg push-off action, so that the single-leg push-off action applies a first angular momentum J0 to the robot 100.

[0080] In some embodiments, the first leg mechanism 21 includes a first upper leg assembly 211, a first lower leg assembly 212, and a first elastic component 213. The first upper leg assembly 211 is connected to the body 10, and the first lower leg assembly 212 is movably connected to the first upper leg assembly 211 and can be retracted or extended relative to the first upper leg assembly 211. When the first lower leg assembly 212 retracts relative to the first upper leg assembly 211, the first elastic component 213 elastically stores force.

[0081] In some embodiments, the second leg mechanism 22 includes a second upper leg assembly 221, a second lower leg assembly 222, and a second elastic component 223. The second upper leg assembly 221 is connected to the body 10, and the second lower leg assembly 222 is movably connected to the second upper leg assembly 221 and can be retracted or extended relative to the second upper leg assembly 221. When the second lower leg assembly 222 retracts relative to the second upper leg assembly 221, the second elastic component 223 elastically stores force.

[0082] In some embodiments, when the first leg mechanism 21 performs a push-off action, the first elastic component 213 provides at least a portion of the push-off force. It should be understood that this design can effectively reduce the driving load on the first lower leg component 212 relative to the first upper leg component 211, improve the efficiency of the push-off action and increase the range of the push-off force. At the same time, with the buffering effect of the elastic component, the impact on the connecting joint between the first upper leg component 211 and the first lower leg component 212 during movement is reduced, thereby enhancing the continuity and comfort of the robot 100's overall movement.

[0083] In some embodiments, when the second leg mechanism 22 performs a push-off action, the second elastic component 223 provides at least a portion of the push-off force. It should be understood that this design effectively reduces the driving load on the second lower leg component 222 relative to the second upper leg component 221, improves the efficiency of the push-off action, and increases the range of force applied during the push-off. Simultaneously, the cushioning effect of the elastic component reduces the impact on the connecting joint between the second upper leg component 221 and the second lower leg component 222 during movement, thereby enhancing the overall continuity and comfort of the robot 100's movement.

[0084] In some embodiments, when the angular momentum required by the first leg mechanism 21 is greater than the angular momentum threshold, the push-off action performed by the first leg mechanism 21 includes: the first lower leg assembly 212 performing a first retraction action relative to the first upper leg assembly 211, and after the first retraction action, the first lower leg assembly 212 performing a first extension action relative to the first upper leg assembly 211 and pushing off the ground.

[0085] It should be understood that when the first lower leg assembly 212 performs the first retraction action relative to the first upper leg assembly 211, the first elastic component 213 generates elastic force. After the first retraction action, when the first lower leg assembly 212 performs the first extension action relative to the first upper leg assembly 211 and pushes off the ground, under the elastic force of the first elastic component 213, the first lower leg assembly 212 can output a larger angular momentum to the robot 100 by pushing off the ground, so that the magnitude of the angular momentum output by pushing off the ground reaches the required level, ensuring that the angular momentum output by pushing off the ground is sufficient to switch the robot 100 to the upright state.

[0086] It should be understood that when the second lower leg assembly 222 performs the second retraction action relative to the second upper leg assembly 221, the second elastic component 223 generates elastic force. After the second retraction action, when the second lower leg assembly 222 performs the second extension action relative to the second upper leg assembly 221 and pushes off the ground, under the elastic force of the second elastic component 223, the second lower leg assembly 222 can output a larger angular momentum to the robot 100 through pushing off the ground, so that the magnitude of the angular momentum output through pushing off the ground reaches the required level, ensuring that the angular momentum output through pushing off the ground is sufficient to switch the robot 100 to the upright state.

[0087] like Figures 8 to 11 As shown, in some embodiments, step S2, controlling the leg mechanism 20 to apply a first angular momentum J0 corresponding to the falling direction of the robot 100, includes: By controlling at least the remote leg mechanism to perform a retraction action to apply a first angular momentum J0 corresponding to the falling direction of the robot 100, the remote leg mechanism is the leg mechanism of the first leg mechanism 21 and the second leg mechanism 22 that is opposite to the falling direction.

[0088] It should be noted that the remote leg mechanism refers to the leg mechanism 20 located on the side furthest from the ground when the robot 100 is tilted to the side. In cases such as... Figure 8 In some of the scenarios shown, the remote leg mechanism of robot 100 is in an extended or partially extended state, maintaining a gap between the bottom of the body 10 and the ground. Based on this, controlling the remote leg mechanism to retract can reduce the distance between the bottom of the body 10 and the ground, making it easier for the bottom of the body 10 to contact the ground, and using the gravitational torque formed by the center of gravity of robot 100 relative to the ground contact point to apply a first angular momentum J0 to robot 100, so that robot 100 switches from a tilted state to an upright state.

[0089] Specifically, such as Figure 9 As shown, when the first leg mechanism 21 is located on the side of the second leg mechanism 22 closest to the ground, that is, when the robot 100 tilts to the first side 50, the first leg mechanism 21 is the near-ground leg mechanism, and the second leg mechanism 22 is the far-ground leg mechanism. At this time, at least the second leg mechanism 22 should be controlled to retract (see reference). Figure 10 (As shown); when the second leg mechanism 22 is located on the side of the first leg mechanism 21 that is close to the ground, that is, when the robot 100 tilts to the second side 60, the second leg mechanism 22 is the near-ground leg mechanism and the first leg mechanism 21 is the far-ground leg mechanism. At this time, at least the first leg mechanism 21 should be controlled to retract.

[0090] It should be understood that if robot 100 tilts to the first side 50 and the second leg mechanism 22 retracts as a ground-based leg mechanism, after the bottom of the main body 10 contacts the ground, the center of gravity of robot 100 relative to the ground point forms a gravitational torque that causes robot 100 to straighten towards the second side 60, thereby generating or assisting in the generation of the first angular momentum J0 (see reference). Figure 11 (As shown). If the robot 100 tilts to the second side 60, and the first leg mechanism 21 is controlled to retract as a remote leg mechanism, after the bottom of the body 10 contacts the ground, the center of gravity of the robot 100 relative to the ground point forms a gravitational torque that makes the robot 100 align with the first side 50.

[0091] In some embodiments, the first leg mechanism 21 includes a first upper leg assembly 211 and a first lower leg assembly 212. The first upper leg assembly 211 is connected to the body 10, and the first lower leg assembly 212 is movably connected to the first upper leg assembly 211. When the first leg mechanism 21 is a remote leg mechanism, controlling the remote leg mechanism to retract includes: controlling the first lower leg assembly 212 to retract relative to the first upper leg assembly 211; and / or, controlling the first leg mechanism 21 to retract relative to the body 10.

[0092] In some embodiments, the second leg mechanism 22 includes a second upper leg assembly 221 and a second lower leg assembly 222. The second upper leg assembly 221 is connected to the body 10, and the second lower leg assembly 222 is movably connected to the second upper leg assembly 221. When the second leg mechanism 22 is a remote leg mechanism, controlling the remote leg mechanism to retract includes: controlling the second lower leg assembly 222 to retract relative to the second upper leg assembly 221; and / or, controlling the second leg mechanism 22 to retract relative to the body 10.

[0093] It should be understood that when the first leg mechanism 21 is a ground-based leg mechanism, the first lower leg assembly 212 retracts relative to the first upper leg assembly 211, and / or the first leg mechanism 21 retracts relative to the body 10, both of which reduce the distance between the bottom side of the body 10 and the ground, making it easier for the bottom side of the body 10 to contact the ground. This allows the body 10 to utilize the shape of its bottom side, the location of its contact point, and the center of gravity of the robot 100 to generate a gravitational torque, causing the robot 100 to rotate in the alignment direction. As one embodiment, if the bottom profile of the body 10 is symmetrical or approximately symmetrical along the forward direction of the robot 100, for example, a plane or an arc, then when the bottom side of the body 10 contacts the ground, the robot 100 can more easily align itself under the action of a gravitational torque.

[0094] It should be understood that when the second leg mechanism 22 is a ground-based leg mechanism, the second lower leg assembly 222 retracts relative to the second upper leg assembly 221, and / or the second leg mechanism 22 retracts relative to the body 10, which can reduce the distance between the bottom side of the body 10 and the ground, making it easier for the bottom side of the body 10 to contact the ground. Thus, the shape of the bottom side of the body 10, the location of the grounding point, and the center of gravity of the robot 100 are used to form a gravitational torque, causing the robot 100 to rotate in the aligning direction.

[0095] In some embodiments, controlling the first leg mechanism 21 to retract relative to the body 10 includes controlling the first upper leg assembly 211 to rotate relative to the body 10 to a first retracted state, in which the first lower leg assembly 212 is located on the side of the first upper leg assembly 211 near the top of the body 10.

[0096] In some embodiments, controlling the second leg mechanism 22 to retract relative to the body 10 includes controlling the second upper leg assembly 221 to rotate relative to the body 10 to a second retracted state, in which the second lower leg assembly 222 is located on the side of the second upper leg assembly 221 near the top of the body 10.

[0097] In some implementations, before the control leg mechanism 20 applies the first angular momentum J0 to the robot 100, the robot 100 may, in combination with the falling direction, falling state and the current posture of the first leg mechanism 21 and the second leg mechanism 22, control the near-ground leg mechanism and / or the far-ground leg mechanism to perform a preparatory retraction action.

[0098] For example, when the robot 100 is in a sideways position, the lower leg assembly of the near-ground leg mechanism is controlled to retract relative to the upper leg assembly to accumulate the elastic potential energy of the elastic component, and the far-ground leg mechanism is controlled to lift or retract relative to the body 10, so that the leg mechanism 20 avoids the ground and enters an initial posture suitable for pushing off and retracting. This embodiment combines the pre-retraction action with the near-ground leg mechanism pushing off the ground, the far-ground leg mechanism retracting, and the first angular momentum J0 as described in the claims, which can reduce the interference between the leg mechanism 20 and the ground, improve the accuracy of the subsequent application of the first angular momentum J0, and reduce the risk of jamming or secondary collisions during the initial stage of standing up.

[0099] In some implementations, the robot 100 can determine the direction and magnitude of the first angular momentum J0 based on the attitude angle and angular velocity of the body 10 relative to the ground, the angle between the vertical centerline 40 and the ground, and the current joint angle of the leg mechanism 20 in the fallen state. For example, when the tilting angle of the robot 100 is large or the angular velocity of the body 10 relative to the ground is small, the pushing force of the near-ground leg mechanism can be increased, the retraction speed of the far-ground leg mechanism can be increased, or the pushing force of the near-ground leg mechanism and the retraction speed of the far-ground leg mechanism can be executed simultaneously; when the angle between the vertical centerline 40 and the ground is close to the angle corresponding to the upright state, the pushing force can be reduced or the leg mechanism 20 can be controlled to switch to the support preparation state in advance.

[0100] It should be understood that matching the first angular momentum J0 with the angle change between the falling direction, the vertical centerline 40, and the current posture of the leg mechanism 20 can improve the success rate of switching from the side-falling state to the upright state and avoid the robot 100 falling over again after passing the upright state due to excessive angular momentum.

[0101] In some embodiments, the robot 100 can perform the falling and getting-up action in stages. In the first stage, the near-ground leg mechanism and the far-ground leg mechanism are determined according to the falling direction, and the near-ground leg mechanism performs a pushing action, the far-ground leg mechanism performs a retraction action, or a combination of both actions, so that the robot 100 switches from a side-falling state to a standing state; in the second stage, after the angle between the vertical center line 40 and the ground increases to a preset range, the first leg mechanism 21 and the second leg mechanism 22 are controlled to adjust to a support preparation state, for example, so that the two leg mechanisms 20 are in a partially curled state that can continue to extend; in the third stage, the first leg mechanism 21 and the second leg mechanism 22 are controlled to extend together to support the body 10 to rise, so that the robot 100 switches from a standing state to a standing state.

[0102] This embodiment combines the side-falling state, the straightening state, the first angular momentum J0, and the leg mechanism supporting the standing state in stages, which can decouple "straightening" and "standing". It can quickly complete the posture straightening by utilizing the first angular momentum J0, and avoid the instability of the support point of the leg mechanism 20 when standing directly, thereby improving the stability and repeatability of the falling and getting up process.

[0103] In some embodiments, after the robot 100 switches to the upright state, at least one of the first leg mechanism 21 and the second leg mechanism 22 can be controlled to form a supporting contact with the ground first, and then the other can be controlled to unfold or adjust its landing position. For example, if the first leg mechanism 21 is closer to the ground in the upright state, the first lower leg assembly 212 is first unfolded to form a first support point, and then the second leg mechanism 22 is unfolded and its landing position is adjusted; if the second leg mechanism 22 is closer to the ground, the second lower leg assembly 222 is first unfolded to form a second support point, and then the first leg mechanism 21 is unfolded and its landing position is adjusted. This embodiment combines the upright state, the first leg mechanism 21, the second leg mechanism 22, and the supporting standing action, enabling the formation of at least one reliable support point before standing, reducing the swaying amplitude of the body 10 during the lifting process and the risk of falling over again.

[0104] In some embodiments, the robot 100 can detect changes in the posture of its body 10 during the standing process and adjust the motion parameters of the leg mechanisms 20 if the angle between the vertical centerline 40 and the ground does not increase according to a preset trend. The motion parameters include at least one of the following: the pushing force, pushing direction, and pushing duration of the near-ground leg mechanism; the retraction speed and extension speed of the far-ground leg mechanism; and the sequence of actions of the near-ground and far-ground leg mechanisms. For example, if the angle between the vertical centerline 40 and the ground does not increase significantly after the near-ground leg mechanism pushes off, the retraction amplitude of the far-ground leg mechanism is increased, or the far-ground leg mechanism is controlled to retract first before the near-ground leg mechanism pushes off; if the angle between the vertical centerline 40 and the ground increases too quickly, the pushing force of the near-ground leg mechanism is reduced, or both leg mechanisms 20 are controlled to enter a support preparation state earlier. This embodiment can improve the adaptability of the robot 100 under different ground conditions and different falling angles.

[0105] In some implementations, the robot 100 can determine whether to perform a push-off action based on ground contact information. For example, when the near-ground leg mechanism detects reliable contact with the ground, it controls the near-ground leg mechanism to perform a push-off action to apply a first angular momentum J0 to the robot 100; when the near-ground leg mechanism does not achieve reliable contact, it first controls the near-ground leg mechanism to extend towards the ground, or controls the far-ground leg mechanism to retract to change the relative posture between the body 10 and the ground, and then performs the push-off action after the near-ground leg mechanism achieves reliable contact. Ground contact information can be determined by foot pressure sensors, joint torque changes, drive current changes, or posture changes of the body 10.

[0106] This implementation can prevent the near-ground leg mechanism from kicking in mid-air or with insufficient contact, thereby increasing the effective output ratio of the first angular momentum J0 and reducing the probability of the leg mechanism 20 slipping or impacting the ground.

[0107] In some implementations, the robot 100 can select a falling and rising method based on ground friction conditions. When ground friction is high, the near-ground leg mechanism is prioritized to perform a pushing-off action, and part of the pushing-off force is provided through the first elastic component 213 or the second elastic component 223 to quickly apply a first angular momentum J0 to the robot 100. When ground friction is low or the near-ground leg mechanism is prone to slipping, the far-ground leg mechanism is prioritized to perform a retraction action, or the pushing-off force is reduced and the contribution of the far-ground leg mechanism's retraction to the straightening process is increased. Ground friction conditions can be determined based on the foot displacement of the near-ground leg mechanism during pushing off, changes in the driving current, or the deviation between the actual angular velocity and the desired angular velocity of the body 10.

[0108] It should be understood that this implementation can improve the standing efficiency on high-friction surfaces and reduce the risk of slipping on low-friction surfaces, enabling the robot 100 to switch from a side-falling state to a righting state more stably under different ground conditions.

[0109] like Figure 1 and Figure 2 As shown, in some embodiments, the robot 100 further includes a head mechanism 30, which is movably connected to the top of the body 10. In one embodiment, the method further includes: when the robot 100 is in a flipped-over state, controlling the head mechanism 30 to perform a posture adjustment action to switch the robot 100 from a flipped-over state to a side-lying state.

[0110] It should be understood that when in a flipped-over state, the robot 100 cannot straighten itself and stand up by using only the leg mechanism 20. Therefore, the head mechanism 30 first performs a posture adjustment action to switch the robot 100 to a side-lying state, so that the robot 100 can straighten itself and stand up by using the leg mechanism 20. Moreover, limiting the robot 100 to fall-over scenarios mainly to side-lying, forward-lying, and backward-lying scenarios simplifies the scenario of the robot 100 falling and getting up, and eliminates the need to design a flip-over and getting-up action.

[0111] For example, the posture adjustment action includes: the head mechanism 30 rotating relative to the body 10, i.e., turning its head, thereby using the contact between the head mechanism 30 and the ground or other objects in the environment to switch the robot 100 from a tipped-over state to a side-lying state.

[0112] In another embodiment, the method further includes: when the robot 100 is in a flipped-over state, controlling the head mechanism 30 to perform a posture adjustment action to switch the robot 100 from the flipped-over state to a forward-falling-over state or a backward-falling-over state. It should be understood that the robot 100 in a forward-falling-over state or a backward-falling-over state can also easily straighten itself and stand up by the action of the leg mechanism 20.

[0113] In some embodiments, the robot 100 also includes a head mechanism 30 connected to the top of the body 10. The head mechanism 30 has a guide 31 on the side away from the body 10, and the guide 31 is configured to guide the robot 100 to a side-lying state when the robot 100 falls over.

[0114] As an example, the guide 31 includes, but is not limited to, decorations, ears, glasses, horns or other components connected to the head mechanism 30 of the robot 100.

[0115] Specifically, the guide component 31 is designed so that when the robot 100 falls over, it will not remain in a flipped-over state or reduce the possibility of entering a flipped-over state or other falling states, and it is easier to enter a side-falling state.

[0116] As explained above, switching the robot 100 to a side-lying state makes it easier for the robot 100 to straighten itself and stand up through the movement of the leg mechanism 20. Moreover, limiting the robot 100 to the side-lying scenario simplifies the scenario of the robot 100 falling down and getting up, and eliminates the need to design the action of falling down and getting up.

[0117] In the robot of this application embodiment, when encountering a scenario where the robot fails to get up after falling down, the specific failed posture and related reasons for failure can be uploaded to the cloud server. The cloud server records the failed posture and reasons for failure, which can be used for subsequent data training to improve the success rate of getting up after falling down in the same posture.

[0118] It should be understood that the modular structure diagrams shown in the accompanying drawings are merely illustrative and do not necessarily include all the connections between structures. In the description of this application, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linkage" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0119] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0120] It should also be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0121] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific implementations of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A robot, characterized in that, The robot includes at least a body and a leg mechanism. The leg mechanism includes a first leg mechanism connected to a first side of the body and a second leg mechanism connected to a second side of the body, and both the first leg mechanism and the second leg mechanism are capable of moving relative to the body. The leg mechanism is configured to apply a first angular momentum corresponding to the falling direction of the robot to the robot in the fallen state, so as to switch the robot to the upright state, wherein, during the process of the robot switching from the side-falling state to the upright state, the angle between the vertical center line of the robot and the ground gradually approaches perpendicularity. The leg mechanism is also configured to support the robot standing upright while it is in the upright position.

2. The robot as described in claim 1, characterized in that, The robot performs a push-off action at least through a near-ground leg mechanism to apply a first angular momentum to the robot corresponding to the direction of the fall. The near-ground leg mechanism is the leg mechanism that corresponds to the direction of the fall, either the first leg mechanism or the second leg mechanism.

3. The robot as described in claim 1 or 2, characterized in that, The first angular momentum is the vector summation of the angular momentum provided by the action of the first leg mechanism and the angular momentum provided by the second leg mechanism.

4. The robot according to any one of claims 1-3, characterized in that, The first leg mechanism and the second leg mechanism perform a push-off action, such that the combined effect of the angular momentum provided by the first leg mechanism and the angular momentum provided by the second leg mechanism applies the first angular momentum to the robot, wherein the angular momentum provided by the near-ground leg mechanism of the first leg mechanism and the second leg mechanism is greater than that of the other leg mechanism; or the near-ground leg mechanism of the first leg mechanism and the second leg mechanism performs a single-leg push-off action, such that the single-leg push-off action applies the first angular momentum to the robot; The near-ground leg mechanism is the leg mechanism that corresponds to the falling direction between the first leg mechanism and the second leg mechanism.

5. The robot as described in any one of claims 2-4, characterized in that, The first leg mechanism includes a first upper leg assembly, a first lower leg assembly, and a first elastic assembly. The first upper leg assembly is connected to the body, and the first lower leg assembly is movably connected to the first upper leg assembly and can be retracted or extended relative to the first upper leg assembly. When the first lower leg assembly retracts relative to the first upper leg assembly, the first elastic assembly elastically stores force. When the first leg mechanism performs a push-off action, the first elastic component provides at least a portion of the push-off force; And / or, When the angular momentum provided by the first leg mechanism is greater than the angular momentum threshold, the ground-pushing action performed by the first leg mechanism includes: the first lower leg assembly performing a first retraction action relative to the first upper leg assembly, and after the first retraction action, the first lower leg assembly performing a first extension action relative to the first upper leg assembly and pushing off the ground.

6. The robot as described in claim 1, characterized in that, The robot performs a retraction action at least through a remote leg mechanism to apply a first angular momentum to the robot corresponding to the direction of the fall, wherein the remote leg mechanism is the leg mechanism that is opposite to the direction of the fall between the first leg mechanism and the second leg mechanism.

7. The robot as described in claim 6, characterized in that, The first leg mechanism includes a first upper leg assembly and a first lower leg assembly. The first upper leg assembly is connected to the body, and the first lower leg assembly is movably connected to the first upper leg assembly. When the first leg mechanism is the remote leg mechanism, the retraction action of the remote leg mechanism includes: controlling the first lower leg assembly to retract relative to the first upper leg assembly; and / or controlling the first leg mechanism to retract relative to the body.

8. The robot as described in claim 7, characterized in that, The first leg mechanism retracting relative to the body includes: the first leg mechanism rotating relative to the body to a first retracted state, in which the first lower leg assembly is located on the side of the first upper leg assembly near the top of the body.

9. The robot as described in claim 1, characterized in that, The robot further includes a head mechanism movably connected to the top of the body, and the method further includes: When the robot is in a flipped-over state, the head mechanism is controlled to perform a posture adjustment action to switch the robot from a flipped-over state to a side-lying state.

10. The robot as claimed in claim 1, characterized in that, The robot also includes a head mechanism connected to the top of the body. The head mechanism has a guide on the side away from the body, and the guide is configured to guide the robot into the side-falling state when the robot falls over.

11. The robot according to any one of claims 1-10, characterized in that, The robot also includes a controller, the controller being used for: Confirm that the robot is in a fallen state; The leg mechanism is controlled to apply a first angular momentum to the robot corresponding to the robot's falling direction, so that the robot switches to an upright state, wherein, during the process of the robot switching from the side-falling state to the upright state, the vertical center line of the robot is nearly perpendicular to the ground. Control the leg mechanism to support the robot in standing.

12. A robot control method, applied to the robot as described in any one of claims 1-11, characterized in that, The method includes: Confirm that the robot is in a fallen state; The leg mechanism is controlled to apply a first angular momentum to the robot corresponding to the direction of the robot's fall, so that the robot switches to an upright state, wherein, during the process of the robot switching from the side-falling state to the upright state, the vertical center line of the robot gradually approaches perpendicularity to the ground; Control the leg mechanism to support the robot in standing.

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