Humanoid robot control method, humanoid robot using the same, and computer readable storage medium

A humanoid robot, comprising:

• a processor;
• a memory coupled to the 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 collecting posture information of leg joints of a human body ;
• instructions for mapping the posture information of the leg joints of the human body to leg joint servos of the humanoid robot to obtain a first expected rotation angle and a first expected rotation angular velocity of one or more first joint servos of the leg joint servos and a second expected rotation angle and a second expected rotation angular velocity of one or more second joint servos of the leg joint servos;
• instructions for obtaining an optimization objective function corresponding to the one or more second joint servos of the leg joint servos;
• instructions for optimizing the second expected rotation angle and the second expected rotation angular velocity of the one or more second joint servos based on the optimization objective function to obtain a corrected expected rotation angle and a corrected expected rotation angular velocity of the one or more second joint servos;
• instructions for obtaining a first actual rotation angle of the one or more first joint servos and a second actual rotation angle of the one or more second joint servos;
• instructions for calculating a first reference velocity of the one or more first joint servos based on the first actual rotation angle, the first expected rotation angle and the first expected rotation angular velocity of the one or more first joint servos;
• instructions for calculating a second reference velocity of the one or more second joint servos based on the second actual rotation angle, the corrected rotation angle and the corrected rotation angular velocity of the one or more second joint servos;
• and
• instructions for controlling each of the leg joint servos of the humanoid robot based on the first reference velocity of the one or more first joint servos and the second reference velocity of the one or more second joint servos.

A non-transitory computer readable storage medium for storing one or more computer programs, wherein the one or more computer programs comprise:

• instructions for collecting posture information of leg joints of a human body ;
• instructions for mapping the posture information of the leg joints of the human body to leg joint servos of the humanoid robot to obtain a first expected rotation angle and a first expected rotation angular velocity of one or more first joint servos of the leg joint servos and a second expected rotation angle and a second expected rotation angular velocity of one or more second joint servos of the leg joint servos;
• instructions for obtaining an optimization objective function corresponding to the one or more second joint servos of the leg joint servos;
• instructions for optimizing the second expected rotation angle and the second expected rotation angular velocity of the one or more second joint servos based on the optimization objective function to obtain a corrected expected rotation angle and a corrected expected rotation angular velocity of the one or more second joint servos;
• instructions for obtaining a first actual rotation angle of the one or more first joint servos and a second actual rotation angle of the one or more second joint servos;
• instructions for calculating a first reference velocity of the one or more first joint servos based on the first actual rotation angle, the first expected rotation angle and the first expected rotation angular velocity of the one or more first joint servos;
• instructions for calculating a second reference velocity of the one or more second joint servos based on the second actual rotation angle, the corrected rotation angle and the corrected rotation angular velocity of the one or more second joint servos;
• and
• instructions for controlling each of the leg joint servos of the humanoid robot based on the first reference velocity of the one or more first joint servos and the second reference velocity of the one or more second joint servos.