66 results about "Ground reaction force" patented technology

The invention relates to the technical field of quadruped robot control, and discloses a quadruped robot anti-disturbance motion control method based on a cost weight adaptive mechanism, which comprises the following steps: constructing a quadruped robot state equation based on a single rigid body dynamic model, a model prediction control problem with cost weight, friction cone constraint and gait constraint is formed through discretization; a cost weight self-adaptive mechanism based on disturbance observation is introduced on the basis of a model prediction control framework, the disturbance intensity is estimated by taking the attitude error of the fuselage and the corresponding change rate as disturbance observation values, and the cost weight corresponding to the attitude in the model prediction control problem is dynamically adjusted; by solving a model prediction control problem, an expected ground reaction force and a target state are calculated in real time, and motion control of the quadruped robot is realized in combination with a gait planner and a joint controller. According to the invention, the motion stability and anti-disturbance performance of the quadruped robot under external disturbance are improved based on a cost weight adaptive mechanism of disturbance observation.

The invention provides an unmarked action acquisition and analysis method and system, and the method comprises the steps: recognizing static and dynamic 2D key points according to the static and dynamic image data of a tester, and reconstructing the static and dynamic 2D key points into static and dynamic 3D key points; based on the static 3D key points, calculating and optimizing the skeleton length, and performing scaling adjustment on the standard skeleton and muscle model to obtain a static skeleton and muscle model of the testee; estimating skeleton motion attitude information according to the original and optimized dynamic 3D key points, and matching the skeleton motion attitude information to a static skeleton and muscle model of a tester to perform inverse kinematics analysis; estimating ground support force GRF of left and right feet by using an inverse kinematics analysis result based on a dynamic balance relationship of human motion; on the basis of an inverse kinematics analysis result and ground support force GRF estimated values of the left and right feet, counter-acting force and torque required by each joint of the human body are calculated frame by frame by adopting an inverse kinematics method of a rigid body system, and then muscle strength and activation degree are calculated. According to the invention, unmarked action acquisition and analysis can be carried out.

This invention provides a supercritical foam midsole material with high rebound response speed and its preparation method, belonging to the field of footwear products. The supercritical foam midsole material is formed from formulated raw materials through supercritical foaming. The formulated raw materials include the following components by mass fraction: more than 98% polycaprolactone-type polyurethane; 0.1-0.3% anti-hydrolysis agent; 0.1-0.5% ultraviolet absorber; and 0.1-0.5% antioxidant. While ensuring the lightweight nature of the midsole material, this invention achieves extreme rebound efficiency and rapid deformation recovery capability, thereby effectively cushioning the ground reaction force during exercise, reducing the potential damage to the feet and joints from sports impacts, and bringing unprecedented comfort and protection to sports enthusiasts.

The invention relates to a control method for dynamically optimizing contact force distribution of a foot-type robot, belongs to the technical field of foot-type robots, and solves the problem that the foot end is easy to sink when the foot-type robot advances in a soft terrain in the prior art. The method comprises the following steps: acquiring real-time ground counter-acting force of each foot of the foot robot in a current gait cycle support phase and joint control information of each foot in a previous gait cycle support phase; based on the joint control information of each foot in the previous gait cycle support phase and the standard ground reaction force time curve, obtaining an expected ground reaction force time curve of each foot in the current gait cycle support phase; based on the expected ground reaction force time curve of each foot in the current gait cycle supporting phase and the corresponding real-time ground reaction force, a PID controller is used for obtaining the control torque of each foot at each moment, the control torque is applied to each joint motor of each foot, and the contact force distribution of each foot is optimized. The walking stability of the foot type robot in the unstructured terrain is achieved.

The invention discloses a motion visual evaluation system and method combining attitude motion and visual training, and relates to the technical field of digital medical treatment and visual health, and the system comprises a biomechanics-attitude acquisition module which integrates a three-dimensional force sensor, a high-precision joint angle sensor, an inertial measurement unit sensor group and a depth camera; synchronously collecting joint torque, ground reaction force, muscle power output, joint angle and posture offset; through a mechanics-vision correlation model of the data processing module, how the biomechanical characteristics influence the visual response and the feedback effect of the visual task on the biomechanical state can be deeply excavated, the improvement of the posture and the visual ability is concerned, the training strategy can be optimized from the biomechanical level, and the training efficiency is improved. And a key basis is provided for the evaluation feedback module to output a multi-dimensional report containing collaborative rating, biomechanical optimization direction and visual adaptation suggestions.

The invention belongs to the technical field of intelligent robot control, and particularly relates to a quadruped robot model prediction control method fused with an extended state observer, which comprises the following steps: firstly, establishing a dynamic model of a quadruped robot system, designing a position ESO to estimate disturbance in a translation direction in real time, and designing an attitude ESO to estimate disturbance in a rotation direction in real time; secondly, constructing a discrete state space model containing a disturbance compensation item by using a disturbance estimator output by ESO, and designing an MPC optimization problem with constraints on this basis, including consideration of friction cone constraints, swing leg force constraints, joint torque upper and lower limit constraints and the like; finally, the MPC optimization problem is solved in an online rolling mode, ground reaction force and joint torque are output, and trajectory tracking control of the quadruped robot under the unknown disturbance condition is achieved. According to the method, the system uncertainty caused by unmodeled load, external disturbance or uneven ground can be effectively inhibited, and the stability and adaptability of the robot in a complex environment are improved.

The invention discloses a lower limb multi-joint torque intelligent prediction method and related equipment, and relates to the technical field of joint torque prediction.The method comprises the steps that original surface electromyography sEMG, kinematics data and ground reaction data of a subject under different lower limb movements are collected; kinematics data and ground reaction force data are used as input, and multi-degree-of-freedom angle data and moment data of three joints of the lower limb are obtained through inverse kinematics and inverse dynamics calculation; constructing a lower limb multi-joint torque prediction model through a deep learning technology, and performing model training by using the training set; and inputting the test sample set into the trained lower limb multi-joint torque prediction model to obtain a joint torque prediction result of the subject. According to the method, the problems of low joint torque prediction precision, high calculation cost and the like in the prior art are solved, the method has the advantages of being easy to implement, high in generalization, capable of processing large-scale data and the like, and prediction results are expected to be applied to three-dimensional compliance and modular control of the exoskeleton robot.

This application belongs to the field of wearable robot technology, specifically providing a mechanical load-bearing exoskeleton system based on ground reaction force self-triggering. The exoskeleton system includes an upper body mechanism, a thigh mechanism, a knee joint mechanism, a lower leg mechanism, and a foot mechanism. The knee joint mechanism includes a knee joint support, a locking component, and a transmission assembly. When the foot mechanism touches the ground and the sole of the foot is compressed and deformed by the ground reaction force, the thigh mechanism slides downward relative to the knee joint support. The transmission assembly drives the locking component to slide towards the thigh mechanism and connect with it, thereby locking the knee joint mechanism. The compression deformation of the sole of the foot caused by the ground reaction force is used as a trigger signal to automatically trigger the locking of the knee joint mechanism. The knee joint mechanism can lock at any reasonable angle, so that when the wearer is going up or down slopes, climbing stairs, or bending their knees for cover, the exoskeleton system can still effectively assist the human body in bearing the load by locking the knee joint mechanism.

An assembly and a method is described. The assembly includes a platform, a motive source, a sensor, a controller and a computerized system. The computerized system has logic configured to cause a processor to send a signal to the controller to cause the motive source to move the platform through at least a portion of a range of inclination angles and to receive data indicating at least one of muscle activity, movement, and ground reaction force applied to the platform at a determined angle, and to cause the processor to analyze the data to determine an orthotic angle for a user's foot.

This invention discloses a method for analyzing and calculating the tensile force of reinforced bodies in a reinforced cushion layer of a pile-net composite foundation, comprising: S1, obtaining the basic parameters of the pile-net composite foundation according to the design scheme of the pile-net composite foundation, including embankment parameters and reinforced foundation parameters; S2, calculating the average stress of the soil between piles at the pile top plane of the pile-net composite foundation based on the embankment parameters and reinforced foundation parameters; S3, calculating the average ground reaction force at the base of the reinforced cushion layer of the pile-net composite foundation; S4, calculating the total tensile force of the reinforced bodies caused by vertical loads based on the average stress of the soil between piles obtained in S2 and the average ground reaction force obtained in S3; S5, calculating the total tensile force of the reinforced bodies caused by the slope thrust effect; S6, calculating the tensile force of each layer of reinforced bodies in the reinforced cushion layer of the pile-net composite foundation. This method is applicable to more complex application scenarios and is a means of calculating the tensile force of reinforced bodies in reinforced cushion layers with both high calculation efficiency and accuracy.

This invention discloses a gait prediction method and system based on a support-aware multi-scale temporal convolutional network. The method includes the following steps: S1, collecting plantar pressure data through pressure insoles and ground reaction force data through a force plate to construct a gait dataset; S2, performing data preprocessing and feature enhancement on the dataset from step S1; S3, establishing a multi-scale support-aware temporal convolutional network (MSA-TCN) model; S4, training the network model from step S3 using supervised learning, inputting the dataset from step S2 into the trained network model for prediction, and outputting the predicted ground reaction force. This invention overcomes the shortcomings of existing technologies in multi-scale temporal feature extraction, gait phase-aware modeling, and synchronous high-precision prediction of multi-dimensional mechanical parameters.

The control device (10) according to this disclosure switches parameters that affect the ground reaction force at the feet of the robot's (20) legs (22) in response to a change in the robot's (20) gait pattern, and outputs control information used to control the legs (22) based on the parameters.

The invention provides a motion analysis method and system based on image and sole contact modeling, and the method comprises the steps: reconstructing a three-dimensional posture of the motion of a subject according to recognized 2D key points, and generating a personalized skeleton model matched with the subject according to the height data of the subject; the method comprises the following steps: acquiring a pelma image of a subject, automatically generating a plurality of contact balls in a pelma region according to an extracted pelma contour shape to approximately represent each region where the pelma is in contact with the ground, and optimally setting the positions and radiuses of the contact balls according to the foot type of the subject to form a personalized pelma contact model; according to the personalized skeleton model, the joint movement data and the personalized plantar contact model, solving a ground reaction force GRF which enables dynamics to be consistent under a given kinematics condition; determining a moving path of a resultant force acting point of stress along with time according to the stress condition of each contact ball of the two feet, and calculating a track of a plantar pressure center COP. Motion analysis can be carried out based on image and plantar contact modeling.

The application provides a lower limb muscle strength prediction and balance function evaluation method based on plantar pressure and spatial pose fusion, comprising: collecting plantar pressure data, lower limb spatial pose data and human individual physiological parameters of a subject, and combining a force platform to obtain ground reaction force data; real lower limb muscle strength is calculated by using inverse dynamics and Hill muscle model, and a plantar pressure + spatial pose-lower limb muscle strength data set is constructed; the optimal sensor quantity and layout are obtained by combining a heuristic optimization algorithm and a machine learning regression model, taking prediction accuracy and information redundancy as indexes; a deep forest model is trained based on fusion features, real-time prediction of hip joint, knee joint and ankle core muscle group muscle strength is realized; further, muscle strength symmetry analysis, weak muscle group identification and hip-knee-ankle force ratio analysis are completed, and multi-dimensional quantitative evaluation of balance function is completed. The method can realize high-precision lower limb muscle strength prediction under limited sample conditions, and output multi-dimensional balance function evaluation results.

The application relates to the technical field of robot control, and discloses a biped robot walking control method based on model predictive control and a landing point optimization. The method aims to solve the problems of insufficient stability and poor adaptability of the prior art when coping with external disturbances and uneven terrains. The core of the application is to perform optimization control on the supporting leg and the swing leg respectively: model predictive control (MPC) is adopted to realize real-time optimization of the three-dimensional ground reaction force of the supporting leg, so that the effective support of the supporting leg on the torso is ensured; meanwhile, a gait stability feedback controller is designed, real-time state feedback is provided through a state observer, the swing leg trajectory is optimized, the landing point position of the robot is dynamically corrected, and the anti-interference ability of the system is enhanced.

The utility model discloses a cushioning sole which comprises a first elastic layer and a second elastic layer, the first elastic layer is arranged above the second elastic layer, a plurality of cushioning units of spherical structures are formed on the second elastic layer, the cushioning units are arranged in a linear distribution mode, spherical crowns are formed on the cushioning units, and the spherical crowns can generate elastic deformation when making contact with the ground. According to the cushioning sole, the elastic cushioning unit is arranged on the bottom face of the second elastic layer and serves as an outer sole structure to be in direct contact with the ground, the cushioning structure provides non-slip wear resistance, and deformation of materials is fully utilized to improve the damping effect of the second elastic layer, so that the shock absorption effect of the second elastic layer is improved, and the service life of the second elastic layer is prolonged. The cushioning units are arranged in a linear array mode, impact force can be dispersed and absorbed more effectively in a linear form, meanwhile, better energy feedback is provided for athletes, the foot soles are helped to more effectively utilize ground counter-acting force, and the running efficiency is improved.

The invention discloses a PTB socket model optimization design method and device, electronic equipment and a product, and relates to the technical field of rehabilitation engineering and rehabilitation assistive devices. According to the invention, the inner surface of the artificial limb socket model is divided into a pressure sensitive area and a pressure tolerance area, and a load is applied by simulating the maximum ground reaction force supported by a single leg when a shank amputation patient is assembled with an artificial limb to walk; then, the displacement increment of the grid surface in each pressure tolerance area is iteratively optimized through an optimization algorithm by taking the maximum overall comfort degree of the artificial limb socket model as a target, so that optimization design can be carried out according to individual differences of shank amputation patients, and the conditions of stress concentration of a sensitive area and insufficient support of a tolerance area are avoided; discomfort, pain and even secondary injury brought to the patient suffering from shank amputation are avoided, and the use experience of the patient suffering from shank amputation is improved.

This invention provides a method for online force assessment of characters in a virtual reality environment, aiming to achieve real-time quantitative assessment, physical accuracy, and high robustness of force on humanoid character movements in virtual reality environments. This method combines a motion generation model and a physics optimizer, using an end-to-end integrated approach to dynamically estimate key mechanical parameters such as joint torque and ground reaction force. Specific steps include: acquiring user motion trajectory data from sparse sensors (such as VR headsets and controllers); generating preliminary full-body motion postures using a motion generation model based on discrete latent space learning; performing physical correction and force estimation on the motion using a physics optimization module (employing a dual proportional-differential controller and a motion tracking optimizer); integrating motion data and force parameters; and outputting character animation and force visualization results in real time through a rendering engine. Through the collaborative design of motion generation and physical force assessment, this invention significantly improves the realism, real-time performance, and adaptability of virtual character movements, making it suitable for VR applications such as security monitoring, medical training, and sports simulation, enhancing immersion and interaction efficiency.

The utility model relates to the technical field of soles, in particular to a novel sole structure, the bottom of a rubber tube is fixedly connected with an anti-puncture layer, and the bottom of the anti-puncture layer is fixedly connected with a wear-resistant layer. According to the novel sole structure, friction force can be increased through the anti-skid lines, a user can be prevented from falling down when walking on rainy days, the elastic rubber layer is made of memory foam and has good elasticity, the elastic rubber layer and the rubber pipes can play a buffering role, the elastic rubber layer and the rubber pipes can be compressed by the counter-acting force of the ground on the foot, and therefore the user can feel comfortable. The anti-puncture sole has the advantages that impact on foot muscles, ligaments and joints is reduced, a user feels more comfortable, fatigue and aching pain during walking are reduced, the anti-puncture layer is made of Kevlar and has high toughness and puncture resistance, the possibility that the sole is punctured can be reduced when the user steps on a hard object or a nail, and the anti-puncture sole is safe and reliable. Therefore, the situation that the soles of the user are punctured is reduced.

The present application relates to the field of gait mechanics, and provides an analysis method for constructing a gait mechanics network based on multivariate transfer entropy, comprising: step 1, obtaining multiple channel signals by performing ensemble empirical mode decomposition (EEMD) on ground reaction force signal original data channel signals, and decomposing each signal into high, medium and low frequency band components; step 2, constructing a transfer entropy gait mechanics network by using multivariate transfer entropy (MuTE); step 2.1, establishing the past state of the system by using non-uniform embedding (NUM); step 2.2, calculating the transfer entropy by using an entropy estimator; step 2.3, verifying the significance of the transfer entropy; and step 3, analyzing the operation law of a single physiological mechanism and multiple physiological mechanisms during walking by using the transfer entropy gait mechanics network. The present application can preferably perform gait mechanics analysis.

This invention relates to the field of rail transit technology, and more particularly to a method and system for calculating the coupled dynamics of high-speed rail vehicles and tracks. The constitutive equations of the fractional-order Zener model are transformed into a CA mortar layer model, and its numerator operator is expressed as a discrete series to obtain the target CA mortar layer model. The ground reaction force of the CA mortar layer acting on the track slab is then obtained. Based on the ground reaction force of the CA mortar layer acting on the track slab, the vibration differential equations of the track slab are constructed. The vibration differential equations of the track slab are transformed into a set of ordinary differential equations in modal coordinates containing fractional-order terms using the Ritz method. Taking a half-car model as the vehicle subsystem, the vibration differential equations of the rail in modal coordinates and the set of ordinary differential equations in modal coordinates containing fractional-order terms of the track slab are integrated into the track subsystem to construct the coupled dynamics model of the high-speed rail vehicle and track. This invention effectively improves the accuracy of vehicle-track coupled dynamics calculations.

The utility model discloses a shoe strutting piece, including half sole area, midfoot area and heel area, be equipped with pressure area in the half sole area, pressure area is protruding structure protruding the half sole area, pressure area corresponds to the first metatarsophalangeal joint and second metatarsophalangeal joint of human foot, make the stress concentration of half sole area corresponding to pressure area. For the metatarsophalangeal joint as a stress concentration area in the take-off stage, a pressure area protruding structure is arranged below the supporting piece so as to increase the structural rigidity and reduce the stress area, and therefore the effect in the take-off stage is improved. The middle foot area adopts a bent upward connection design to enhance the stability of the lower limbs in the take-off stage, can effectively optimize the direction of the counter-acting force on the ground, and provides support for the whole foot sole at the moment of leaving the ground, especially forward force, and the heel area adopts hollowed-out treatment to enhance the coupling effect between the heel and the sole, so that the sole is more comfortable to wear. And the landing comfort is improved.

The embodiment of the invention provides a method and device for determining the residual load of rear wheels of a forklift loader, the forklift loader and a storage medium. The forklift loader comprises an arm support and a variable-amplitude oil cylinder. The method comprises the steps that a first included angle between the variable-amplitude oil cylinder and the horizontal plane and the forking weight of the forklift loader are determined; according to the output pressure of the variable-amplitude oil cylinder on the arm support, the first included angle, the forking weight and the self weight of the arm support, the horizontal direction force borne by the hinge point of the arm support and the vertical direction force borne by the hinge point of the arm support are determined; according to the structure parameters of the forklift, the horizontal force, the vertical force and the output pressure, the first reaction force of the ground to the rear wheels of the forklift is determined; according to the structure parameters of the lower vehicle, the structure parameters of the whole vehicle, the fork loading weight and the dead weight of the arm frame, second reaction force of the ground to the rear wheels of the fork loading vehicle is determined; and determining the smaller one of the first reaction force and the second reaction force as the rear wheel residual load of the forklift loader.

The present invention relates to a step element (2) for detecting the ground reaction force distribution across the ground contact area of ​​the foot of a hoofed animal or the foot of a human being when it steps onto the ground, with a plurality of spring elements (4) which are arranged between the ground and the hoof or foot in use, wherein the spring elements (4) are designed as planar force measuring sensors (4) which each have at least one microwave stripline (18) with an individual natural frequency which changes proportionally to an acting force (F).

The present invention relates to a reaction force measuring plate (1) for detecting the ground reaction force distribution over the ground contact surface of the foot of a hoofed animal or the foot of a human when walking on the ground, comprising a, preferably rigid, support plate (3) with a first lower surface (3a) facing the ground during use and an opposite second upper surface (3b) facing the hoof or foot, a plurality of flat force measuring sensors (5) positionally fixed on the first lower surface (3a) of the support plate (3), and a, preferably elastomeric, force transmitting flat element (11) which is positionally fixed on the force measuring sensors (5) parallel to the support plate (3) and facing away from the first lower surface (3a), wherein for each force measuring sensor (5) at least one, preferably exactly one, elastic force transmitting stud (7) is fixed on the free lower surface of the force transmitting flat element (11) directly opposite exactly one of the force measuring sensors (5), wherein the free lower surface of the force transmitting flat element (11) forms the lower side of reaction force measuring plate (1) which faces that ground and, during use, is in contact with the ground.

The invention discloses a multi-sensor fusion longitudinal jump force estimation and height compensation method and system. The method comprises the following steps: acquiring sensing data of a plurality of inertial measurement units arranged at different segments of a human body; based on sensing data of a plurality of inertial measurement units, determining a ground clearance moment and a landing moment in a longitudinal jumping process, applying a physical constraint that the ground reaction force approaches to zero in a flying period, and estimating a time sequence of the ground reaction force from the ground clearance to the landing moment; calculating a first vertical jump height estimation value based on the ground reaction force time sequence, and calculating a second vertical jump height estimation value based on the off-ground moment and the landing moment; and determining a height error compensation amount according to the first longitudinal jump height estimation value and the second longitudinal jump height estimation value in combination with action characteristics extracted from the sensing data so as to correct the second longitudinal jump height estimation value and obtain the compensated longitudinal jump height. According to the invention, the accuracy and scene adaptability of measuring and calculating the longitudinal jumping ground reaction force and the flying height are improved.

The application provides a motion analysis method and system based on image and foot bottom contact modeling, comprising the following steps: reconstructing the three-dimensional posture of the subject motion according to the identified 2D key points, and generating a personalized skeletal model matched with the subject according to the height data of the subject; obtaining the foot bottom image of the subject, and automatically generating a plurality of contact spheres in the foot bottom area according to the extracted foot bottom contour shape to approximately represent each area of the foot bottom contact with the ground, the positions and radii of the contact spheres are optimized and set according to the foot type of the subject, and a personalized foot bottom contact model is formed; solving the ground reaction force (GRF) consistent with the dynamics under the given kinematic conditions according to the personalized skeletal model, joint motion data and personalized foot bottom contact model; determining the moving path of the force point of action of the resultant force with time according to the force condition of each contact sphere of the double feet, and calculating the trajectory of the foot bottom pressure center (COP). The application can perform motion analysis based on image and foot bottom contact modeling.

The utility model discloses a supportable lower limb power-assisted exoskeleton, which relates to the technical field of bionic skeletons, and comprises a mounting frame, a position blocking plate and an elastic piece, the elastic piece is fixedly mounted between the mounting frame and the position blocking plate, and the shape of the elastic piece is set to be S-shaped. Ground counter-acting force and vibration are transmitted to the ankle-foot connecting skeleton, the S-shaped elastic piece between the mounting frame and the stopping plate deforms to absorb energy, the second damper and the second damping spring between the inner wall of the ankle-foot connecting skeleton and the end point of the elastic piece cooperate for buffering, and meanwhile corrugated damping plastic between the mounting frame and the stopping plate consumes energy through elastic deformation. The elastic piece, the second damper, the second damping spring and the damping plastic form a multi-stage damping system, high-frequency small-amplitude vibration and low-frequency large-amplitude impact can be dealt with in the modes of elastic deformation, damping consumption and the like, joint impact is reduced, and human bones are protected.

The application relates to a control method for dynamically optimizing contact force distribution of a foot-type robot, and belongs to the technical field of foot-type robots. The method solves the problem that the foot end of a foot-type robot is prone to sinking when the foot-type robot travels on soft terrain. The method comprises the following steps: acquiring real-time ground reaction force of each foot of the foot-type robot in a current gait cycle supporting phase and joint control information in a previous gait cycle supporting phase; obtaining an expected ground reaction force time curve of each foot in the current gait cycle supporting phase based on the joint control information of each foot in the previous gait cycle supporting phase and a standard ground reaction force time curve; and obtaining control torque of each foot at each time by using a PID controller based on the expected ground reaction force time curve of each foot in the current gait cycle supporting phase and corresponding real-time ground reaction force, and applying the control torque to each joint motor of each foot to optimize the contact force distribution of each foot. The method realizes walking stability of the foot-type robot on unstructured terrain.

The invention relates to a wheel-legged mobile carrier balance control method, a mobile carrier and a medium, and the method comprises the following steps: obtaining current operation data and road condition data of the mobile carrier, the operation data comprising carrier attitude parameters, motion state parameters and ground reaction force parameters; the current mode of the carrier is judged according to the obtained operation data and the obtained road condition data, the obtained operation data and the obtained road condition data are input into a leg type mode dynamic model or a wheel type mode dynamic model to generate corresponding balance control parameters, and meanwhile a switching instruction whether mode switching is conducted or not is issued according to a mode switching rule; the balance control parameters and the switching instruction are transmitted to a carrier actuator, and the motion posture of the carrier is regulated and controlled through the carrier actuator; the invention also discloses a mobile carrier and a medium according to the method. According to the invention, dynamic balance regulation and control of the carrier under different terrains can be realized.