Humanoid robot and its control method and computer readable storage medium

A humanoid robot, comprising:

• a processor;
• a memory coupled to the processor;
• and
• one or more computer programs stored in the memory and executable on the processor;
• wherein, the one or more computer programs comprise:
• instructions for obtaining a current torque of a sole of the humanoid robot, an inclination angle of the sole, an inclination angle of a first joint of the humanoid robot, and an inclination angle of a second joint of the humanoid robot;
• instructions for calculating a current feedforward angular velocity of a motor of the first joint and a current feedforward angular velocity of a motor of the second joint through the torque and the inclination angle of the sole;
• instructions for calculating a feedback angular velocity of the motor of the first joint and a feedback angular velocity of the motor of the second joint based on the inclination angle of the first joint, the inclination angle of the second joint, the inclination angle of the sole, and an initial centroid position of the humanoid robot;
• instructions for obtaining an inclination angle of the first joint based on the feedforward angular velocity of the motor of the first joint and the feedback angular velocity of the motor of the first joint, and performing, through the motor of the first joint, a deviation control on the first joint according to the inclination angle of the first joint;
• and
• instructions for obtaining an inclination angle of the second joint based on the feedforward angular velocity of the motor of the second joint and the feedback angular velocity of the motor of the second joint, and performing, through the motor of the second joint, a deviation control on the second joint according to the inclination angle of the second joint.

A non-transitory computer readable storage medium for storing one or more computer programs, wherein the one or more computer programs comprise:

• instructions for obtaining a current torque of a sole of the humanoid robot, an inclination angle of the sole, an inclination angle of a first joint of the humanoid robot, and an inclination angle of a second joint of the humanoid robot;
• instructions for calculating a current feedforward angular velocity of a motor of the first joint and a current feedforward angular velocity of a motor of the second joint through the torque and the inclination angle of the sole;
• instructions for calculating a feedback angular velocity of the motor of the first joint and a feedback angular velocity of the motor of the second joint based on the inclination angle of the first joint, the inclination angle of the second joint, the inclination angle of the sole, and an initial centroid position of the humanoid robot;
• instructions for obtaining an inclination angle of the first joint based on the feedforward angular velocity of the motor of the first joint and the feedback angular velocity of the motor of the first joint, and performing, through the motor of the first joint, a deviation control on the first joint according to the inclination angle of the first joint;
• and
• instructions for obtaining an inclination angle of the second joint based on the feedforward angular velocity of the motor of the second joint and the feedback angular velocity of the motor of the second joint, and performing, through the motor of the second joint, a deviation control on the second joint according to the inclination angle of the second joint.