Title:
LEGGED ROBOT MOTION CONTROL METHOD AND APPARATUS, DEVICE, MEDIUM AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2022/089195
Kind Code:
A1
Abstract:
A legged robot (110) motion control method and apparatus (800), a device (120), a medium and a program. The legged robot (110) motion control method comprises: determining, according to state data of the legged robot (110) at a start moment in a preset cycle, a candidate landing point (430) of each foot (420) in the preset cycle (S501); determining, according to the state data at the start moment and the candidate landing point (430) of each foot (420), a first relationship between a centre-of-mass position change parameter, the candidate landing point (430) and a first foot contact force (S502); determining, subject to a set of constraints, a target centre-of-mass position change parameter, a target stepping sequence and target landing points which satisfy the first relationship (S503), wherein the set of constraints comprises constraints for constraining the stepping sequence; and controlling the legged robot (110) to move in the preset cycle according to the target centre-of-mass position change parameter, the target stepping sequence and the target landing points (S504).
Inventors:
ZHENG YU (CN)
JIANG XINYANG (CN)
CHI WANCHAO (CN)
LING YONGGEN (CN)
ZHANG SHENGHAO (CN)
ZHANG ZHENGYOU (CN)
JIANG XINYANG (CN)
CHI WANCHAO (CN)
LING YONGGEN (CN)
ZHANG SHENGHAO (CN)
ZHANG ZHENGYOU (CN)
Application Number:
PCT/CN2021/123261
Publication Date:
May 05, 2022
Filing Date:
October 12, 2021
Export Citation:
Assignee:
TENCENT TECH SHENZHEN CO LTD (CN)
International Classes:
B25J9/16; B62D57/032; G05B19/19; G05D1/08
Foreign References:
| CN112051797A | 2020-12-08 | |||
| CN112114589A | 2020-12-22 | |||
| CN111506094A | 2020-08-07 | |||
| CN105388755A | 2016-03-09 | |||
| JP2560264B2 | 1996-12-04 |
Other References:
See also references of EP 4144487A4
Attorney, Agent or Firm:
DEQI INTELLECTUAL PROPERTY LAW CORPORATION (CN)
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