Robot posture control method and robot and computer readable storage medium using the same

A non-transitory computer readable storage medium storing instructions executable on a process, wherein the instructions comprise:

• instructions for constructing a virtual model of the robot, wherein the virtual model comprises a momentum wheel inverted pendulum model of the robot and an angle between a sole surface of the robot and a horizontal plane;
• and
• instructions for performing a posture control based on outer-loop feedback control, inner loop compensation for the external disturbance rejection in position level, inner loop external disturbance rejection via null-space in velocity level, and inner loop external disturbance rejection in force/acceleration level on the robot;
• wherein the instructions for performing the posture control based on outer-loop feedback control, inner loop compensation for the external disturbance rejection in position level, inner loop external disturbance rejection via null-space in velocity level, and inner loop external disturbance rejection in force/acceleration level on the robot comprise:
• instructions for outputting a control force through a preset closed-loop feedback controller;
• instructions for transforming the control force into a reference pose of the work space of the virtual model through a preset admittance operator;
• instructions for transforming the reference pose into a first joint reference value of the joint space of the virtual model through a preset second reverse mapping module;
• instructions for transforming the first joint reference value into a second joint reference value of the joint space of the robot through a preset first reverse mapping module;
• and
• instructions for performing the posture controls on the robot according to the second joint reference value.

A robot, comprising:

• a preset inertial measurement unit;
• a memory;
• a processor;
• and
• one or more computer programs stored in the memory and executable on the processor, wherein the one or more computer programs comprise:
• instructions for instructions for constructing a virtual model of the robot, wherein the virtual model comprises a momentum wheel inverted pendulum model of the robot and an angle between a sole surface of the robot and a horizontal plane;
• and
• instructions for performing a posture control based on outer-loop feedback control, inner loop compensation for the external disturbance rejection in position level, inner loop external disturbance rejection via null-space in velocity level, and inner loop external disturbance rejection in force/acceleration level on the robot;
• wherein the instructions for performing the posture control based on outer-loop feedback control, inner loop compensation for the external disturbance rejection in position level, inner loop external disturbance rejection via null-space in velocity level, and inner loop external disturbance rejection in force/acceleration level on the robot comprise:
• instructions for outputting a control force through a preset closed-loop feedback controller;
• instructions for transforming the control force into a reference pose of the work space of the virtual model through a preset admittance operator;
• instructions for transforming the reference pose into a first joint reference value of the joint space of the virtual model through a preset second reverse mapping module;
• instructions for transforming the first joint reference value into a second joint reference value of the joint space of the robot through a preset first reverse mapping module;
• and
• instructions for performing the posture controls on the robot according to the second joint reference value.