Motion control method and apparatus, robot, and readable storage medium
AssigneeBeijing Xiaomi Robot Technology Co., Ltd.
InventorZhe Xu
Life of this patent
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Abstract
The present disclosure provides a motion control method and apparatus, a robot and a non-transitory storage medium. The method includes: obtaining a jump parameter of the robot, the jump parameter including an expected velocity and an expected jump height before take-off of the robot; obtaining a jump trajectory corresponding to the jump parameter in a preset action library, the action library including a jump trajectory that is marked with a corresponding jump parameter; and controlling the robot to reach the expected velocity, and controlling the robot to jump according to the jump trajectory.
Claims18
A motion control method, wherein the method is applied to a legged robot, and the method comprises:
- obtaining a jump parameter of the robot, wherein the jump parameter comprises an expected velocity and an expected jump height before take-off of the robot;
- obtaining a jump trajectory corresponding to the jump parameter in a preset action library, wherein the preset action library comprises a jump trajectory that is marked with a corresponding jump parameter;
- and
- controlling the robot to reach the expected velocity, and controlling the robot to jump according to the jump trajectory,
- wherein in response to the jump parameter further comprising a take-off position, controlling the robot to reach the expected velocity comprises:
- controlling the robot to reach the expected velocity, and switching to a support state at the take-off position, wherein the support state represents that all foot ends of the robot are in contact with a ground, and footholds of the foot ends are determined according to the expected velocity before take-off of the robot and a preset support time;
- and
- wherein in response to the jump parameter not comprising the take-off position, controlling the robot to reach the expected velocity comprises:
- controlling the robot to reach the expected velocity, and switching to the support state.
A motion control apparatus, wherein the apparatus is applied to a legged robot, and the apparatus comprises:
- a processor;
- and
- a memory for storing instructions executable by the processor,
- wherein the processor, by executing the instructions, is configured to:
- obtain a jump parameter of the robot, wherein the jump parameter comprises an expected velocity and an expected jump height before take-off of the robot;
- obtain a jump trajectory corresponding to the jump parameter in a preset action library, wherein the preset action library comprises a jump trajectory that is marked with a corresponding jump parameter;
- and
- control the robot to reach the expected velocity, and controlling the robot to jump according to the jump trajectory,
- wherein in response to the jump parameter further comprising a take-off position, the processor is configured to:
- control the robot to reach the expected velocity, and switch to a support state at the take-off position, wherein the support state represents that all foot ends of the robot are in contact with a ground, and footholds of the foot ends are determined according to the expected velocity before take-off of the robot and a preset support time;
- and
- wherein in response to the jump parameter not comprising the take-off position, the processor is configured to:
- control the robot to reach the expected velocity and switching to the support state.
Dependencies are inferred from the claim text.