Method for controlling biped robot, biped robot, and readable storage medium

A biped robot, comprising:

• a memory;
• and
• a processor,
• wherein the memory is configured to store a computer program executable by the processor;
• the processor is configured to:
• acquire a support phase of the biped robot in a current state;
• acquire a current forward speed and a current lateral speed of a center of mass of the biped robot at an end of the support phase;
• acquire a torque vector of an ankle joint of a support leg of the biped robot according to the current forward speed and the current lateral speed;
• acquire a target torque vector according to the torque vector and a preset Quadratic Programming (QP) model;
• and
• control the biped robot to move according to the target torque vector,
• wherein the processor is configured to:
• acquire current time and a ground normal component force applied to a swing leg of the biped robot;
• judge whether the current time meets a first condition or a second condition and judge whether the current time and the normal component force meet a third condition;
• the first condition being that the current time exceeds a sum of Single Support Phase (SSP) start time and SSP duration, the second condition being that the current time exceeds a sum of Double Support Phase (DSP) start time and DSP duration, the third condition being that the current time exceeds a sum of the SSP start time and half of the SSP duration, and the normal component force being greater than a product of a preset coefficient and gravity of the biped robot;
• and
• determine that the biped robot is in a DSP when the current time meets the first condition or the current time and the normal component force meet the third condition;
• and determine that the biped robot is in an SSP when the current time meets the second condition.

A non-transitory computer-readable storage medium having an executable computer program stored thereon, wherein the executable computer program in the storage medium is configured to cause a process to implement a method for controlling a biped robot, comprising:

• acquiring a support phase of the biped robot in a current state;
• acquiring a current forward speed and a current lateral speed of a center of mass of the biped robot at an end of the support phase;
• acquiring a torque vector of an ankle joint of a support leg of the biped robot according to the current forward speed and the current lateral speed;
• acquiring a target torque vector according to the torque vector and a preset Quadratic Programming (QP) model;
• and
• controlling the biped robot to move according to the target torque vector,
• wherein acquiring a support phase of the biped robot in a current state, comprises:
• acquiring current time and a ground normal component force applied to a swing leg of the biped robot;
• judging whether the current time meets a first condition or a second condition and judging whether the current time and the normal component force meet a third condition;
• the first condition being that the current time exceeds a sum of Single Support Phase (SSP) start time and SSP duration, the second condition being that the current time exceeds a sum of Double Support Phase (DSP) start time and DSP duration, the third condition being that the current time exceeds a sum of the SSP start time and half of the SSP duration, and the normal component force being greater than a product of a preset coefficient and gravity of the biped robot;
• and
• determining that the biped robot is in a DSP when the current time meets the first condition or the current time and the normal component force meet the third condition;
• and determining that the biped robot is in an SSP when the current time meets the second condition.