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GAIT CONTROL METHOD, DEVICE, AND TERMINAL DEVICE FOR BIPED ROBOT
GAIT CONTROL METHOD, DEVICE, AND TERMINAL DEVICE FOR BIPED ROBOT
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机译:双足机器人的步态控制方法,装置和终端装置
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摘要
The present disclosure relates to robot technology, which provides a gait control method, device, and terminal device for a biped robot. The method includes: planning art initial position of an ankle joint of the biped robot and a rotation angle a sole of the biped robot to rotate around one of a toe and a heel of the biped robot; planning a body pose of the biped robot; calculating a target position of the ankle joint based on the initial position of the ankle joint and the rotation angle of the sole; obtaining a joint angle, of each of a plurality of joints of the biped robot by performing an operation on the body pose and the target position of the ankle joint utilizing an inverse kinematics algorithm; and adjusting a gait of the biped robot based on the joint angle of each of the joints.
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