Robot stability control method, robot and computer-readable storage medium
US12275152B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 29, 2022 |
| Grant date | Apr 15, 2025 |
| Priority date | — |
| Expiry date | Jul 1, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/50391
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robot stability control method includes: obtaining a desired zero moment point (ZMP) and a fed-back actual ZMP of a robot at a current moment; based on a ZMP tracking control model, the desired ZMP and the actual ZMP, calculating a desired value of a motion state of a center of mass of the robot at the current moment, wherein the desired value of the motion state of the center of mass comprises a correction amount of the position of the center of mass; based on a spring-mass-damping-acceleration model and the desired value of the motion state of the center of mass, calculating a lead control input amount for the correction amount of the position of the center of mass; and controlling motion of the robot according to the lead control input amount and a planned value of the position of the center of mass at the current moment.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.