Robot balance control method, computer-readable storage medium and robot
US11604466B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 13, 2020 |
| Grant date | Mar 14, 2023 |
| Priority date | — |
| Expiry date | Jul 22, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/50391
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A robot balance control method includes: obtaining force information associated with a left foot and a right foot of the robot; calculating a zero moment point of a center of mass (COM) of a body of the robot based on the force information; calculating a first position offset and a second position offset of the robot according to the zero moment point of the COM of the body; updating a position trajectory of the robot according to the first position offset and the second offset to obtain an updated position of the COM of the body; performing inverse kinematics analysis on the updated position of the COM of the body to obtain joint angles of the left leg and the right leg 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.