Planning and control method for legged robot, apparatus, robot, and storage medium

A legged robot, comprising:

• a memory;
• a processor;
• and
• a computer program stored in the memory and executable on the processor, wherein the processor is configured to execute the program to implement a planning and control method for a legged robot, the method comprising:
• obtaining a movement instruction and a movement state of the legged robot;
• generating, based on the movement instruction and the movement state, a reference state sequence of the legged robot and a swing parameter of each leg at a next moment;
• determining, based on the movement state and the swing parameter of each leg at the next moment, a foot-end reference state of each leg, and planning, based on a foot-end dynamic model and a discrete collision model, an impact-aware swing leg trajectory for a leg that starts to swing at the next moment, to enable an influence caused by an early collision to be within a target constraint range;
• and
• performing, based on the movement state, the reference state sequence, and the foot-end reference state, whole-body control on the legged robot, and performing, based on a whole-body dynamic model and the discrete collision model, impact-aware whole-body control for a leg that is a supporting leg in planning but does not touch the ground, to enable an influence caused by a delayed collision to be within the target constraint range.

A non-transitory computer-readable storage medium, having a computer program stored thereon, wherein the program is configured to, when executed by a processor, implement a planning and control method for a legged robot, the method comprising:

• obtaining a movement instruction and a movement state of the legged robot;
• generating, based on the movement instruction and the movement state, a reference state sequence of the legged robot and a swing parameter of each leg at a next moment;
• determining, based on the movement state and the swing parameter of each leg at the next moment, a foot-end reference state of each leg, and planning, based on a foot-end dynamic model and a discrete collision model, an impact-aware swing leg trajectory for a leg that starts to swing at the next moment, to enable an influence caused by an early collision to be within a target constraint range;
• and
• performing, based on the movement state, the reference state sequence, and the foot-end reference state, whole-body control on the legged robot, and performing, based on a whole-body dynamic model and the discrete collision model, impact-aware whole-body control for a leg that is a supporting leg in planning but does not touch the ground, to enable an influence caused by a delayed collision to be within the target constraint range.