Robot step control method, robot control apparatus, and computer readable storage medium
US12397866B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 29, 2022 |
| Grant date | Aug 26, 2025 |
| Priority date | — |
| Expiry date | Jan 12, 2044 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D57/032
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A robot step control method, a robot control apparatus, and a storage medium are provided. The method includes: determining an expected support force of two legs of a biped robot according to zero-moment point planning data and actual position data of the two legs at a current moment, and determining a current desired joint posture angle of ankle joints of the two legs and a desired joint position matching an actual leg support state using a compliance control algorithm based on an expected support force of the two legs, and centroid movement planning data, centroid actual movement data, step planning data and actual force data of the two legs at the current moment. In such manner, all-direction compliant controls can be performed on a desired leg pose condition according to the actual motion status of the biped robot, thereby improving the walking stability and terrain adaptability of the biped robot.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.