Pose control method, robot and computer-readable storage medium

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 estimating a first set of joint angular velocities of all joints of the robot according to a balance control algorithm;
• instructions for estimating a second set of joint angular velocities of all joints of the robot according to a momentum planning algorithm;
• instructions for estimating a third set of joint angular velocities of all joints of the robot according to a pose return-to-zero algorithm;
• and
• instructions for performing pose control on the robot according to the first set of joint angular velocities, the second set of joint angular velocities, and the third set of joint angular velocities;
• wherein the instructions for estimating the third set of joint angular velocities of all joints of the robot according to the pose return-to-zero algorithm comprise:
• instructions for obtaining an actual pose of each end of the robot, wherein the ends of the robot comprise ends of arms of the robot or ends of feet of the robot;
• instructions for calculating a desired speed of each end of the robot according to the actual pose and a predefined initial pose of each end of the robot;
• instructions for calculating joint angular velocities of the robot according to the desired speed of each end of the robot;
• and
• instructions for combining the joint angular velocities of the robot into the third joint angular velocities;
• and
• wherein the joint angular velocities of the robot are calculated according to the following equation:
• ω3,i=Jivi, where vi represents the desired speed of an i-th end of the robot, Ji represents a kinematic Jacobian matrix from a robot coordinate system to an i-th end coordinate system, ω3,i represents joint angular velocities of all joints in an i-th chain.

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 legged robot, causing the robot to perform processing comprising:

• estimating a first set of joint angular velocities of all joints of the robot according to a balance control algorithm;
• estimating a second set of joint angular velocities of all joints of the robot according to a momentum planning algorithm;
• estimating a third set of joint angular velocities of all joints of the robot according to a pose return-to-zero algorithm;
• and
• performing pose control on the robot according to the first set of joint angular velocities, the second set of joint angular velocities, and the third set of joint angular velocities;
• wherein estimating the second set of joint angular velocities of all joints of the robot according to the momentum planning algorithm comprises:
• obtaining actual joint angular velocities of the robot;
• calculating an actual momentum of the robot according to the actual joint angular velocities;
• constructing a counter-rotational momentum corresponding to the actual momentum;
• and
• calculating the second set of joint angular velocities, by using a predefined mapping matrix and a generalized inverse matrix of the predefined mapping matrix, according to the counter-rotational momentum.