Robot control method and apparatus and robot using the same

A control apparatus for a robot, comprising:

• an image obtaining module configured to obtain a human pose image;
• a key point information obtaining module configured to obtain pixel information of a plurality of preset key points in the human pose image;
• a three-dimensional positional information obtaining module configured to obtain three-dimensional positional information of key points of a human arm according to the pixel information of the plurality of preset key points, wherein the key points of the human arm are preset key points of an area at which the human arm in the human posture image locating;
• a model obtaining module configured to obtain a robotic arm kinematics model of a robot;
• an angle obtaining module configured to obtain an angle of each joint in the robotic arm kinematics model according to the three-dimensional positional information of the key points of the human arm and the robotic arm kinematics model;
• and
• a robotic arm control module configured to control an arm of the robot to perform a corresponding action according to the angle of each joint.

A biped robot comprising:

• a memory;
• and
• a processor,
• wherein the memory stores a computer program executable on the processor, and
• the computer program comprises:
• instructions for obtaining a human pose image;
• instructions for obtaining pixel information of a plurality of preset key points in the human pose image;
• instructions for obtaining three-dimensional positional information of key points of a human arm according to the pixel information of the plurality of preset key points, wherein the key points of the human arm are preset key points of an area at which the human arm in the human posture image locating;
• instructions for obtaining a robotic arm kinematics model of a robot;
• instructions for obtaining an angle of each joint in the robotic arm kinematics model according to the three-dimensional positional information of the key points of the human arm and the robotic arm kinematics model;
• and
• instructions for controlling an arm of the robot to perform a corresponding action according to the angle of each joint.