Motion control method and apparatus, robot and readable storage medium
AssigneeBeijing Xiaomi Robot Technology Co., Ltd.
InventorXuanyang SHI
Life of this patent
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Abstract
A motion control method includes: acquiring a current state parameter of a robot in response to determining that the robot is in a single-foot supporting state; and determining, based on a first preset function and a preset angular momentum value, the position of the centroid of the robot relative to a swing foot at an end moment of the current single-foot supporting state according to the current state parameter of the robot, such that an angular momentum of the centroid relative to the support foot at an end moment of a next single-foot supporting state reaches the angular momentum value, and controlling the robot to walk according to the position of the centroid of the robot relative to the swing foot at the end moment of the current single-foot supporting state.
Claims20
A motion control method, performed by a biped robot, and comprising:
- acquiring a state parameter of the robot at a current moment in response to determining that the robot is in a single-foot supporting state, wherein the state parameter comprises an angular momentum of a centroid of the robot relative to a support foot and a position of the centroid relative to the support foot;
- determining, based on a first preset function and a preset angular momentum value, the position of the centroid of the robot relative to a swing foot at an end moment of the current single-foot supporting state according to the state parameter of the robot at the current moment, such that an angular momentum of the centroid relative to the support foot at an end moment of a next single-foot supporting state reaches the angular momentum value;
- and
- controlling the robot to walk according to the position of the centroid of the robot relative to the swing foot at the end moment of the current single-foot supporting state.
A robot, comprising:
- a memory, configured to store processor executable instructions;
- and
- a processor, configured to:
- acquire a state parameter of the robot at a current moment in response to determining that the robot is in a single-foot supporting state, wherein the state parameter comprises an angular momentum of a centroid of the robot relative to a support foot and a position of the centroid relative to the support foot;
- determine, based on a first preset function and a preset angular momentum value, the position of the centroid of the robot relative to a swing foot at an end moment of the current single-foot supporting state according to the state parameter of the robot at the current moment, such that an angular momentum of the centroid relative to the support foot at an end moment of a next single-foot supporting state reaches the angular momentum value;
- and
- control the robot to walk according to the position of the centroid of the robot relative to the swing foot at the end moment of the current single-foot supporting state.
A non-transitory computer-readable storage medium, on which computer program are stored that, when executed by a processor, cause the processor to:
- acquire a state parameter of the robot at a current moment in response to determining that the robot is in a single-foot supporting state, wherein the state parameter comprises an angular momentum of a centroid of the robot relative to a support foot and a position of the centroid relative to the support foot;
- determine, based on a first preset function and a preset angular momentum value, the position of the centroid of the robot relative to a swing foot at an end moment of the current single-foot supporting state according to the state parameter of the robot at the current moment, such that an angular momentum of the centroid relative to the support foot at an end moment of a next single-foot supporting state reaches the angular momentum value;
- and
- control the robot to walk according to the position of the centroid of the robot relative to the swing foot at the end moment of the current single-foot supporting state.
Dependencies are inferred from the claim text.