An inverse kinematics calculation method for mass center of humanoid robot

摘要

The present invention relates to a robot center position adjustment method, a device, a robot and a data storage medium. The method comprises three steps of obtaining the initial value of the waist posture, the initial value of the biceps posture and the initial value of the central position by means of the three mass block models and the central position plan value, and the change of the waist posture by the central position initial value and the central position plan value. A step of obtaining a waist speed adjustment value using a linear positive correlation corresponding to a change in the center position, and a step of obtaining the center position current value by calculating the initial value of the waist position, the waist speed adjustment value and the initial value of the head position, and the center Compares whether the present position value matches the central position plan value, and if not, obtains the current position of the center position and uses it as the initial value of the next central position until the center position present value matches the center position plan value. And a step of returning to and executing the step based on the central position planning value, and generating a target control system command based on the current value of the central position if they match. The balance ability of the robot can be improved by the above method.