Robot control method, robot and storage medium

A robot, comprising:

• a memory for storing instructions;
• and
• a processor configured to:
• obtain a beaten position of a musical instrument and a joint configuration parameter of a limb of the robot at a moment when the robot beats the musical instrument;
• determine a motion trajectory of an end of the limb of the robot in a beating action period according to the beaten position of the musical instrument, a preset contact speed between the robot and the musical instrument, the beating action period of the robot, a position of the end of the limb of the robot at a starting moment of the beating action period and a special position of a beating action, wherein the special position of the beating action is a position where the end of the limb of the robot is at a middle moment of the beating action period;
• generate a joint control quantity of the limb of the robot in the beating action period according to the motion trajectory of the end of the limb of the robot and the joint configuration parameter of the limb of the robot at the moment when the robot beats the musical instrument, and control the robot to beat the musical instrument according to the joint control quantity;
• and
• in response to determining that a correction parameter sent by a user is received, adjust the preset contact speed between the robot and the musical instrument and/or the special position of the beating action according to the correction parameter, to update the joint control quantity, and control the robot to beat the musical instrument according to the updated joint control quantity;
• wherein the processor is further configured to:
• based on a first polynomial interpolation function, determine a position control quantity of the end of the limb of the robot in the beating action period, and
• based on a second polynomial interpolation function, determine a speed control quantity of the end of the limb of the robot in the beating action period;
• wherein polynomial coefficients of the first polynomial interpolation function and the second polynomial interpolation function are determined through the beaten position of the musical instrument, the preset contact speed between the robot and the musical instrument, the beating action period of the robot, the position of the end of the limb of the robot at the starting moment of the beating action period and the special position of the beating action.

A non-transitory computer-readable storage medium, on which a computer program is stored, the computer program is configured to, when executed by a processor, implement:

• obtaining a beaten position of a musical instrument and a joint configuration parameter of a limb of the robot at a moment when a robot beats the musical instrument;
• determining a motion trajectory of an end of the limb of the robot in a beating action period according to the beaten position of the musical instrument, a preset contact speed between the robot and the musical instrument, the beating action period of the robot, a position of the end of the limb of the robot at a starting moment of the beating action period and a special position of a beating action, wherein the special position of the beating action is a position where the end of the limb of the robot is at a middle moment of the beating action period;
• generating a joint control quantity of the limb of the robot in the beating action period according to the motion trajectory of the end of the limb of the robot and the joint configuration parameter of the limb of the robot at the moment when the robot beats the musical instrument, and controlling the robot to beat the musical instrument according to the joint control quantity;
• and
• in response to determining that a correction parameter sent by a user is received, adjusting the preset contact speed between the robot and the musical instrument and/or the special position of the beating action according to the correction parameter, to update the joint control quantity, and controlling the robot to beat the musical instrument according to the updated joint control quantity;
• wherein determining the motion trajectory of the end of the limb of the robot in the beating action period according to the beaten position of the musical instrument, the preset contact speed between the robot and the musical instrument, the beaten action period of the robot, the position of the end of the limb of the robot at the starting moment of the beating action period and the special position of the beating action comprises:
• determining a position control quantity of the end of the limb of the robot in the beating action period based on a first polynomial interpolation function, and
• determining a speed control quantity of the end of the limb of the robot in the beating action period based on a second polynomial interpolation function;
• wherein polynomial coefficients of the first polynomial interpolation function and the second polynomial interpolation function are determined through the beaten position of the musical instrument, the preset contact speed between the robot and the musical instrument, the beating action period of the robot, the position of the end of the limb of the robot at the starting moment of the beating action period and the special position of the beating action.