Method for controlling robot, robot and computer-readable storage medium

A robot comprising:

• one or more processors;
• one or more joint end effectors electrically coupled to the one or more processors;
• a communication unit electrically coupled to the one or more processors, wherein the communication unit is to establish a communication connection between the robot and a trajectory planning device through a network;
• and
• a memory coupled to the one or more processors, the memory storing programs that, when executed by the one or more processors, cause performance of operations comprising:
• obtaining current motion state information of the robot fed back by a state estimator installed on the robot, and obtaining desired motion trajectory information corresponding to a target task by the communication unit from the trajectory planning device, wherein the target task comprises at least one to-be-performed task of the robot;
• determining task execution coefficient matrices corresponding to the robot performing the target task according to the desired motion trajectory information and the current motion state information;
• constructing matching dynamic constraints for task-driven parameters of the robot according to the desired motion trajectory information and the current motion state information;
• constructing matching parameter distribution constraints for the task-driven parameters according to the current motion state information and body action safety constraints corresponding to the target task;
• solving a pre-stored task execution loss function by using the task execution coefficient matrices to obtain target-driven parameters satisfying the dynamic constraints and the parameter distribution constraints;
• and
• driving the robot to perform the target task by controlling operation state of each joint end effector of the robot according to the target-driven parameters.

A non-transitory computer-readable storage medium storing instructions that, when executed by at least one processor of a robot, cause the at least one processor to perform a method, wherein the robot further comprises:

• one or more joint end effectors and a communication unit, the one or more joint end effectors and the communication unit are electrically coupled to the at least one processor, the communication unit is to establish a communication connection between the robot and a trajectory planning device through a network, a state estimator is installed on the robot, and the method comprises:
• obtaining current motion state information of the robot fed back by the state estimator, and obtaining desired motion trajectory information corresponding to a target task by the communication unit from the trajectory planning device, wherein the target task comprises at least one to-be-performed task of the robot;
• determining task execution coefficient matrices corresponding to the robot performing the target task according to the desired motion trajectory information and the current motion state information;
• constructing matching dynamic constraints for task-driven parameters of the robot according to the desired motion trajectory information and the current motion state information;
• constructing matching parameter distribution constraints for the task-driven parameters according to the current motion state information and body action safety constraints corresponding to the target task;
• solving a pre-stored task execution loss function by using the task execution coefficient matrices to obtain the target-driven parameters satisfying the dynamic constraints and the parameter distribution constraints;
• and
• driving the robot to perform the target task by controlling operation state of each joint end effector of the robot according to the target-driven parameters.