Center of mass planning method for robot, robot and computer-readable storage medium

A legged robot comprising:

• one or more processors;
• and
• a memory coupled to the one or more processors, the memory storing programs that, when executed by the one or more processors, cause performance of operations comprising:
• obtaining a planning position of the COM and a planning speed of the COM of the robot, and calculating a planning capture point of the robot according to the planning position of the COM and the planning speed of the COM;
• obtaining a measured position of the COM and a measured speed of the COM of the robot, and calculating a measured capture point of the robot according to the measured position of the COM and the measured speed of the COM;
• calculating a desired zero moment point (ZMP) of the robot based on the planning capture point and the measured capture point;
• obtaining a measured ZMP of the robot, and calculating an amount of change in a position of the COM of the robot according to the desired ZMP and the measured ZMP;
• and
• correcting the planning position of the COM according to the amount of change in the position of the COM to obtain a corrected planning position of COM.

A non-transitory computer-readable storage medium storing instructions that, when executed by at least one processor of a legged robot, cause the at least one processor to perform a method, the method comprising:

• obtaining a planning position of the COM and a planning speed of the COM of the robot, and calculating a planning capture point of the robot according to the planning position of the COM and the planning speed of the COM;
• obtaining a measured position of the COM and a measured speed of the COM of the robot, and calculating a measured capture point of the robot according to the measured position of the COM and the measured speed of the COM;
• calculating a desired zero moment point (ZMP) of the robot based on the planning capture point and the measured capture point;
• obtaining a measured ZMP of the robot, and calculating an amount of change in a position of the COM of the robot according to the desired ZMP and the measured ZMP;
• and
• correcting the planning position of the COM according to the amount of change in the position of the COM to obtain a corrected planning position of COM.