Control method for robot, computer-readable storage medium and robot
US12076860B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 23, 2021 |
| Grant date | Sep 3, 2024 |
| Priority date | — |
| Expiry date | Dec 26, 2042 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D57/032
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A control method for a robot includes: determining a desired zero moment point (ZMP) of the robot; obtaining a position of a left foot and a position of a right foot of the robot, and calculating desired support forces of the left foot and the right foot according to the desired ZMP, the positions of the left foot and the right foot; obtaining measured support forces of the left foot and the right foot, and calculating an amount of change in length of the left leg and an amount of change in length of the right leg according to the desired support forces of the left foot and the right foot, the measured support forces of the left foot and the right foot; and controlling the robot to walk according to the amount of change in length of the left leg and the right leg.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.