Robot, method for controlling motion of a robot and non-transitory readable medium

A robot, comprising a memory and a processor, wherein the memory is configured to store program instructions, the processor is configured to execute the program instructions and perform a method for controlling motion of the robot, the method comprises:

• acquiring current motion state of the robot, wherein motion states comprises normal motion state and abnormal motion state;
• when the robot is in the abnormal motion state, storing received data which correspond to an action the robot needs to perform in the normal motion state;
• when it is detected that the robot returns to the normal motion state, acquiring restoring time spent for the robot to return from the abnormal motion state to the normal motion state;
• and
• based on the received data which correspond to the action the robot needs to perform in the normal motion state and the restoring time, controlling the robot to continue to perform a corresponding action after the robot returns to the normal motion state;
• wherein the step of based on the received data which correspond to the action the robot needs to perform in the normal motion state and the restoring time, controlling the robot to continue to perform the corresponding action after the robot returns to the normal motion state comprises:
• based on the received data which correspond to the action the robot needs to perform in the normal motion state, acquiring necessary time Tn, T(n+1), . . . , T(n+k), . . . , T(m−1) corresponding to different actions An, A(n+1), . . . , A(n+k), . . . , A(m−1) and a delay T′, wherein Tn+T(n+1)+ . . . +T(n+k)+ . . . +T(m−1)+T′=T:
• if T′<Tm, taking an action Am corresponding to the time Tm as the action that the robot needs to perform after returning to the normal motion state;
• and
• controlling the robot which has returned to the normal motion state to continue to perform the action Am by a controlling layer in a motion control system of the robot.

A non-transitory readable medium, comprising program instructions that, when executed by a processor, cause the processor to perform a method for controlling motion of a robot, the method comprises:

• acquiring, current motion state of the robot, wherein motion states comprises normal motion state and abnormal motion state;
• when the robot is in the abnormal motion state, storing received data which correspond to an action the robot needs to perform in the normal motion state;
• when it is detected that the robot returns to the normal motion state, acquiring restoring time spent for the robot to return from the abnormal motion state to the normal motion state;
• and
• based on the received data which correspond to the action the robot needs to perform in the normal motion state and the restoring time, controlling the robot to continue to perform a corresponding action after the robot returns to the normal motion state:
• wherein the step of based on the received data which correspond to the action the robot needs to perform in the normal motion state and the restoring time, controlling robot to continue to perform the corresponding action after the robot returns to the normal motion state comprises:
• based on the received data which correspond to the action the robot needs to perform in the normal motion state, acquiring necessary time Tn, T(n+1), . . . , T(n+k), . . . , T(m−1) corresponding to different actions An, A(n+1), . . . , A(n+k), . . . , A(m−1) and a delay T′, wherein Tn+T(n+1)+ . . . +T(n+k)+ . . . +T(m−1)+T′=T:
• if T′<Tm, taking an action Am corresponding to the time Tm as the action that the robot needs to perform after returning to the normal motion state;
• and
• controlling the robot which has returned to the normal motion state to continue to perform the action Am by a controlling layer in a motion control system of the robot.