Title:
METHOD FOR CONSTRUCTING CONTROLLER OF ROBOT, MOTION CONTROL METHOD FOR ROBOT AND APPARATUSES, AND ROBOT
Document Type and Number:
WIPO Patent Application WO/2023/165177
Kind Code:
A1
Abstract:
A method for constructing a controller of a robot, a motion control method for a robot and apparatuses, and a robot. The method for constructing a controller of a robot comprises: using a first controller to control the motion of a robot, and acquiring motion state data and control data of the robot during the motion (S201); updating a linear balance parameter matrix of the first controller by means of policy iteration according to the motion state data and the control data (S202); and on the basis of the updated linear balance parameter matrix, constructing a second controller corresponding to dynamic characteristics of the robot (S203).
Inventors:
WANG SHUAI (CN)
ZHANG JINGFAN (CN)
ZHANG JINGFAN (CN)
Application Number:
PCT/CN2022/134041
Publication Date:
September 07, 2023
Filing Date:
November 24, 2022
Export Citation:
Assignee:
TENCENT TECH SHENZHEN CO LTD (CN)
International Classes:
G05B19/042
Foreign References:
| CN113753150A | 2021-12-07 | |||
| CN113290559A | 2021-08-24 | |||
| CN103381826A | 2013-11-06 | |||
| CN113498523A | 2021-10-12 | |||
| US20220026871A1 | 2022-01-27 |
Other References:
DING, LIJIA: "Biped Robot Balance Control and Gait Planning Research", CHINA MASTER'S THESES FULL-TEXT DATABASE INFORMATION SCIENCE), no. 02, 15 February 2018 (2018-02-15)
Attorney, Agent or Firm:
ADVANCE CHINA IP LAW OFFICE (CN)
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