Robot control method, robot, and control terminal

A robot, comprising:

• a body;
• two or more legs coupled to the body;
• at least one first processor in communication with the two or more legs;
• a first storage device in communication with the at least one first processor, the first storage device storing instructions, that when executed by the at least one first processor, cause the at least one first processor to perform operations comprising:
• calculating a first deviation between a current posture and a desired posture of the robot;
• updating dynamic parameters of the robot according to the first deviation;
• and
• generating a driving instruction of at least one joint module of the robot according to selected dynamic parameters, and controlling a posture of the robot to reach or approach the desired posture according to the driving instruction;
• wherein the at least one first processor calculates the first deviation between the current posture and the desired posture of the robot by:
• obtaining rotational position information of an output end of the at least one joint module of the robot, torque information of the at least one joint module, and an angular velocity value of a body of the robot and a first linear acceleration value of the body using the sensor;
• obtaining a support reaction force by inputting first dynamic parameters, the rotational position information of the output end of the at least one joint module of the robot, the torque information of the at least one joint module, and the angular velocity value of the body and the first linear acceleration value of the body into a dynamic model, the first dynamic parameters comprise a first mass parameter, a first inertia parameter and a first centroid parameter;
• and
• calculating the first deviation between the current posture and the desired posture of the robot according to the support reaction force, the first centroid parameter, and the first mass parameter.

A control terminal in communication with a robot, comprising:

• a second storage device;
• at least one second processor in communication with the second storage device, the second storage device storing instructions, that when executed by the at least one second processor, cause the at least one second processor to perform operations comprising:
• calculating a first deviation between a current posture and a desired posture of the robot;
• updating dynamic parameters of the robot according to the first deviation;
• and
• generating a driving instruction of at least one joint module of the robot according to selected dynamic parameters, and controlling a posture of the robot to reach or approach the desired posture;
• wherein calculating the first deviation between the current posture and the desired posture of the robot comprises:
• obtaining rotational position information of an output end of the at least one joint module of the robot, torque information of the at least one joint module, and an angular velocity value of a body of the robot and a first linear acceleration value of the body using the sensor;
• obtaining a support reaction force by inputting first dynamic parameters, the rotational position information of the output end of the at least one joint module of the robot, the torque information of the at least one joint module, and the angular velocity value of the body and the first linear acceleration value of the body into a dynamic model, the first dynamic parameters comprise a first mass parameter, a first inertia parameter and a first centroid parameter;
• and
• calculating the first deviation between the current posture and the desired posture of the robot according to the support reaction force, the first centroid parameter, and the first mass parameter.