Method to control a movement of a robot and a controller

A method to control a movement of a robot (100), in particular a legged robot, comprising;

• a controller (1) with a user interface unit configured to receive a user command for controlling a robot movement by applying an actuator command {right arrow over (t)}=f(v, w) to an actuator of the robot (100),
• wherein the user interface unit comprises a touch sensitive surface (10),
• the method comprises the steps of;
• touching the touch sensitive surface (10) and thereby setting a new point of origin (x0, y0) of a user reference frame (x, y) related to the touch sensitive surface,
• while staying in touch with the touch sensitive surface (10), generating a user command (x1, y1) within the user reference frame (x, y),
• translating the user command (x1, y1) into the actuator command {right arrow over (t)}=f(v, w), received by the actuator, with
• v=f1(y1)
• w=f2(x1)
• and therefore into the robot movement, wherein v and w each correspond to one velocity selected out of the velocities that a robot can take within a robot reference frame (xR,yR,zR),
• comprising switching between alternative method steps:
• translating the user command (x1, y1) into the actuator command {right arrow over (t)}, and therefore into the robot movement, wherein v corresponds to a translational velocity {right arrow over (t)}x in heading direction xR and wherein w corresponds to a translational velocity {right arrow over (tY)} in lateral direction yR of the robot reference frame (xR, yR, zR) and
• translating the user command (x1, y1) into the actuator command t, wherein w corresponds to an angular velocity {right arrow over (az)}, and therefore into the robot movement of yawing around the vertical axis zR of the robot reference frame (xR, vR, zR).