Feedforward control method for floating base dynamics, computer-readable storage medium and robot

A non-transitory computer readable storage medium having stored therein instructions, which when executed by a robot, cause the robot to perform a feedforward control method for floating base dynamics, the feedforward control method comprising executing on a processor steps of:

• acquiring kinematic parameters of each joint of a robot at each moment based on inverse kinematics according to a pre-planned robot motion trajectory, and setting a center of a body of the robot as a floating base;
• determining a six-dimensional acceleration of a center of mass of each joint of the robot in a base coordinate system using a forward kinematics algorithm, based on the kinematic parameters of each joint of the robot, and converting the six-dimensional acceleration of the center of mass of each joint of the robot in the base coordinate system to a six-dimensional acceleration in a world coordinate system;
• and
• calculating a torque required by a motor of each joint of the robot using an inverse dynamic algorithm, based on the six-dimensional acceleration of the center of mass of each joint of the robot in the world coordinate system, and controlling the motors of corresponding joints of the robot using a feedforward control, based on the calculated torque.

A robot comprising:

• one or more processors:
• a storage;
• and
• one or more computer programs stored in the storage and configured to be executed by the one or more processors to perform a feedforward control method for floating base dynamics, the feedforward control method comprising steps of:
• acquiring kinematic parameters of each joint of a robot at each moment based on inverse kinematics according to a pre-planned robot motion trajectory, and setting a center of a body of the robot as a floating base;
• determining a six-dimensional acceleration of a center of mass of each joint of the robot in a base coordinate system using a forward kinematics algorithm, based on the kinematic parameters of each joint of the robot, and converting the six-dimensional acceleration of the center of mass of each joint of the robot in the base coordinate system to a six-dimensional acceleration in a world coordinate system;
• and
• calculating a torque required by a motor of each joint of the robot using an inverse dynamic algorithm, based on the six-dimensional acceleration of the center of mass of each joint of the robot in the world coordinate system, and controlling the motors of corresponding joints of the robot using a feedforward control, based on the calculated torque.