Robot control method, computer-readable storage medium and robot
US11691284B2 · kind B2 · utility
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17Claims
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Key dates
| Filing date | Dec 13, 2020 |
| Grant date | Jul 4, 2023 |
| Priority date | — |
| Expiry date | Jul 9, 2041 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D57/032
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robot 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 COM of a body of the robot based on the force information; updating a motion 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; performing inverse kinematics analysis on the updated position of the COM of the body to obtain joint angles of a left leg and a 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.