Title:
BIPED ROBOT CONTROL METHOD AND APPARATUS, BIPED ROBOT, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2022/247133
Kind Code:
A1
Abstract:
A biped robot control method and apparatus, a biped robot, and a storage medium. The control method comprises: obtaining an initial distance between the center of mass and a supporting point of a double inverted pendulum model of the biped robot, an initial moving speed of the center of mass, and an initial displacement of the center of mass (step S101); obtaining a measurement value of a stable point of the double inverted pendulum model according to the initial distance and the initial moving speed (step S102); obtaining control output quantity according to the initial moving speed and the measurement value of the stable point (step S103); obtaining an expected value of the displacement of the center of mass of the double inverted pendulum model according to the initial moving speed, the initial displacement, and the control output quantity (step S104); and controlling lateral movement of the biped robot according to the expected value of the displacement (step S105). The control method can effectively improve the stability and adaptability of lateral movement when the biped robot is interfered by the external environment or human factors, thereby realizing stable control of lateral movement of the biped robot, and improving the anti-interference capability of the biped robot.
Inventors:
CHEN CHUNYU (CN)
XIONG YOUJUN (CN)
LIU YIZHANG (CN)
LUO QIUYUE (CN)
GE LIGANG (CN)
BAI JIE (CN)
ZHOU JIANGCHEN (CN)
XIONG YOUJUN (CN)
LIU YIZHANG (CN)
LUO QIUYUE (CN)
GE LIGANG (CN)
BAI JIE (CN)
ZHOU JIANGCHEN (CN)
Application Number:
PCT/CN2021/126709
Publication Date:
December 01, 2022
Filing Date:
October 27, 2021
Export Citation:
Assignee:
UBTECH ROBOTICS CORP LTD (CN)
International Classes:
G05D1/08; B62D57/032
Foreign References:
| CN113359792A | 2021-09-07 | |||
| CN110286679A | 2019-09-27 | |||
| CN110405762A | 2019-11-05 | |||
| CN105137969A | 2015-12-09 | |||
| CN112744313A | 2021-05-04 | |||
| CN111674486A | 2020-09-18 | |||
| CN110371213A | 2019-10-25 | |||
| CN112327869A | 2021-02-05 | |||
| CN112486170A | 2021-03-12 | |||
| CN112792807A | 2021-05-14 | |||
| KR20160133123A | 2016-11-22 |
Attorney, Agent or Firm:
SHENZHEN ZHONGYI UNION INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
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