Robot control method, computer-readable storage medium and robot

A non-transitory computer-readable storage medium storing one or more programs to be executed in a robot, the one or more programs, when being executed by one or more processors of the robot, causing the robot to perform processing comprising:

• obtaining force information associated with a left foot and a right foot of the robot, wherein the force information is obtained by sensors respectively arranged at connecting portions between the left foot and a left leg of the robot, and between the right foot and a right leg of the robot;
• calculating a zero moment point of a center of mass (COM) of a body of the robot based on the force information;
• updating a motion trajectory of the robot according to the zero moment point of the COM of the body to obtain an updated position of the COM of the body;
• performing inverse kinematics analysis on the updated position of the COM of the body to obtain joint angles of the left leg and the right leg of the robot;
• and
• controlling the robot to move according to the joint angles;
• wherein updating the motion trajectory of the robot according to the zero moment point of the COM of the body to obtain the updated position of the COM of the body, comprises:
• determining a desired zero moment point and a desired position of the COM of the body according to the motion trajectory of the robot;
• acquiring an actual position of the COM of the body, and calculating acceleration of the COM of the body according to the zero moment point, the actual position, the desired zero moment point, and the desired position of the COM of the body;
• calculating magnitude of change in position of the COM of the body based on the acceleration of the COM of the body and speed of the COM of the body at a previous moment;
• and
• calculating the updated position of the COM of the body according to the desired position of the COM of the body and the magnitude of change in the position of the COM of the body.

A robot comprising:

• one or more processors;
• a memory;
• and
• one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprises:
• instructions for obtaining force information associated with a left foot and a right foot of the robot, wherein the force information is obtained by sensors respectively arranged at connecting portions between the left foot and a left leg of the robot, and between the right foot and a right leg of the robot;
• instructions for calculating a zero moment point of a center of mass (COM) of a body of the robot based on the force information;
• instructions for updating a motion trajectory of the robot according to the zero moment point of the COM of the body to obtain an updated position of the COM of the body;
• instructions for performing inverse kinematics analysis on the updated position of the COM of the body to obtain joint angles of the left leg and the right leg of the robot;
• and
• instructions for controlling the robot to move according to the joint angles;
• wherein updating the motion trajectory of the robot according to the zero moment point of the COM of the body to obtain the updated position of the COM of the body, comprises:
• determining a desired zero moment point and a desired position of the COM of the body according to the motion trajectory of the robot;
• acquiring an actual position of the COM of the body, and calculating acceleration of the COM of the body according to the zero moment point, the actual position, the desired zero moment point, and the desired position of the COM of the body;
• calculating magnitude of change in position of the COM of the body based on the acceleration of the COM of the body and speed of the COM of the body at a previous moment;
• and
• calculating the updated position of the COM of the body according to the desired position of the COM of the body and the magnitude of change in position of the COM of the body.