Robot control method, computer-readable storage medium and biped robot

A non-transitory computer-readable storage medium storing one or more programs to be executed in a biped robot, the one or more programs, when being executed by one or more processors of the biped robot, causing the biped robot to perform processing comprising:

• acquiring distances between a center of mass (COM) of the biped robot and each of preset key points of feet of the biped robot, and acquiring an initial position of the COM of the biped robot;
• calculating a position offset of the COM based on the distances;
• adjusting the initial position of the COM based on the position offset of the COM to obtain a desired position of the COM of the biped robot;
• and
• determining desired walking parameters of the biped robot based on the desired position of the COM by using a preset inverse kinematics algorithm, wherein the desired walking parameters are configured to control the biped robot to walk.

A biped robot comprising:

• one or more processors;
• a memory;
• and
• one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprises:
• instructions for acquiring distances between a center of mass (COM) of the biped robot and each of preset key points of feet of the biped robot, and acquiring an initial position of the COM of the biped robot;
• instructions for calculating a position offset of the COM based on the distances;
• instructions for adjusting the initial position of the COM based on the position offset of the COM to obtain a desired position of the COM of the biped robot;
• and
• instructions for determining desired walking parameters of the biped robot based on the desired position of the COM by using a preset inverse kinematics algorithm, wherein the desired walking parameters are configured to control the biped robot to walk.