Robot control method, computer-readable storage medium and robot
US11602848B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 13, 2020 |
| Grant date | Mar 14, 2023 |
| Priority date | — |
| Expiry date | Aug 23, 2041 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J13/088
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robot control method includes: obtaining force information associated with feet of the robot; calculating a zero moment point of a COM of a body of the robot based on the force information; updating a position trajectory of the robot according to the zero moment point of the COM of the body to obtain an updated position of the COM of the body; obtaining posture information of the robot; updating a posture trajectory of the robot according to the posture information to obtain an updated pose angle; performing inverse kinematics analysis on the updated position of the COM of the body and the updated pose angle to obtain joint angles of legs of the robot; and controlling the robot to move according to the joint angles.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.